摘要
为了尝试量化描述机器人机构的运动学和动力学性能,各国学者提出了各种性能指标。机器人可操作性反映了整个系统对力和运动的全局转换能力,也就是机器人在任意方向上的运动和施加力的能力。本文对评价机器人可操作性性能指标的现状进行了综述,将目前的研究分为三类:①基于雅可比矩阵的研究;②基于Hessian矩阵的研究;③基于刚度矩阵的研究,并指出了每种方法的优点和缺陷。
In order to describe the kinematic and dynamic performances of robot quantitatively, many indices have been brought forward. Robot manipulability represents the transforming ability of motians and forces of the robot system from the joint space to the task space. The development of perfomance indices of the robot manipulability was summarized. According to the basic methods, the current studies can be divided into three kinds:1)the study on the basis of Jacobian Matrix;2)the study on the basis of Hessian Matrix;3)the study on the basis of Stiffness Matrix. The merits and limitations of each method were pointed out in this paper.
出处
《机械设计与研究》
CSCD
2003年第4期34-37,共4页
Machine Design And Research
基金
北京市自然科学基金资助项目(3012003)
