| 分支点邻域内的奇异路径跟踪 |
| |
| 引用本文： | 连广宇,孙增圻. 分支点邻域内的奇异路径跟踪[J]. 机器人, 2003, 25(1): 48-52 |
| |
| 作者姓名： | 连广宇 孙增圻 |
| |
| 作者单位： | 清华大学,计算机科学与技术系,智能技术与系统国家重点实验室,北京,100084 |
| |
| 基金项目： | 国家 8 63资助项目 (编号 :863-70 4-7-17) |
| |
| 摘 要： | 在非冗余机械臂运动学的分支奇异点邻域内，由于出现逆运动学解的分支现象，用基于零空间的拟弧长法求解路径跟踪问题会遇到困难．为此，本文通过计算分支点的局部模型，提出从分支点开始向两侧延拓的解曲线计算方法，有效地完成了路径跟踪求解，在关节空间获得光滑的运动轨迹．
|
| 关 键 词： | 分支点 奇异点 路径跟踪 非冗余机械臂 |
| 文章编号： | 1002-0446(2003)01-0048-05 |
| 修稿时间： | 2002-07-28 |
SINGULAR PATH TRACKING IN THE VICINITY OF BIFURCATIONS |
| |
| LIAN Guang yu SUN Zeng qi. SINGULAR PATH TRACKING IN THE VICINITY OF BIFURCATIONS[J]. Robot, 2003, 25(1): 48-52 |
| |
| Authors: | LIAN Guang yu SUN Zeng qi |
| |
| Abstract: | In the vicinity of bifurcation singularities of non redundant robot manipulators, null space based quasi arc length method will face difficulties due to the existence of more then one solution branches of the inverse kinematics while tracking the desired path in the workspace. By calculating the local model of the solution curve near the bifurcation, an approach is presented to follow the solution curve starting from the singular point to both sides of it. Simulation results demonstrate that the approach effectively helps to solve the path tracking problem in the vicinity of bifurcation. |
| |
| Keywords: | bifurcation kinematic singularity path tracking non redundant manipulator |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《机器人》浏览原始摘要信息 |
|
点击此处可从《机器人》下载全文 |
