| 连续三轴平行机器人的避奇异规划 |
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| 引用本文： | 陈钢,贾庆轩,孙汉旭,洪磊.连续三轴平行机器人的避奇异规划[J].北京邮电大学学报,2009,32(3):55-59. |
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| 作者姓名： | 陈钢 贾庆轩 孙汉旭 洪磊 |
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| 作者单位： | 北京邮电大学,自动化学院,北京,100876;北京邮电大学,自动化学院,北京,100876;北京邮电大学,自动化学院,北京,100876;北京邮电大学,自动化学院,北京,100876 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 针对具有连续三轴平行结构的六自由度机器人，提出一种新的回避奇异的方法。通过分析机器人雅可比矩阵的结构，对雅可比矩阵进行改造；将六维的雅可比矩阵分割成两个三维雅可比矩阵。在此基础上，确定了机器人发生奇异的条件；并利用二次规划实现了机器人的避奇异；最后，通过实验验证了该算法的适用性，并与现有的最小阻尼方差等方法进行了比较，有较大的优越性。
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| 关 键 词： | 避奇异 矩阵分割 二次规划 三轴平行 |
| 收稿时间： | 2008-11-3 |
| 修稿时间： | 2009-4-16 |
Planning on Avoiding Singularity for the Robot with the Structure of Three Consecutive Parallel Axes |
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| CHEN Gang,JIA Qing-xuan,SUN Han-xu,HONG Lei.Planning on Avoiding Singularity for the Robot with the Structure of Three Consecutive Parallel Axes[J].Journal of Beijing University of Posts and Telecommunications,2009,32(3):55-59. |
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| Authors: | CHEN Gang JIA Qing-xuan SUN Han-xu HONG Lei |
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| Affiliation: | CHEN Gang,JIA Qing-xuan,SUN Han-xu,HONG Lei (School of Automation,Beijing University of Posts , Telecommunications,Beijing 100876,China) |
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| Abstract: | A new method to avoid the singularity is presented for the 6-Dof robot with the structure of three consecutive parallel axes. By analyzing the robot Jacobian matrix structure and rebuilding the Jacobian matrix, the six-dimensional Jacobian matrix is divided into two three-dimensional Jacobian matrixes. On this basis, the conditions of robot singularity occurrence are determined and the robot avoiding the singularity is achieved by using quadratic programming. Finally, the algorithm effectiveness is validated by the experiment. The comparison between the quadratic programming method and the existing Damped least-squares method is manifested and the former is superior. |
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| Keywords: | avoiding singularity matrix partitioning quadratic programming three consecutive parallel axes |
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