“被动冗余度”空间机器人运动学特性分析

分析了“被动冗余度”空间机器人主、被动关节之间的运动学耦合，得到了可用于运动学规划的耦合指标；分析了“被动冗余度”空间机器人的运动学奇异的问题，以及与对应全主动关节冗余度空间机器人的运动学奇异的区别，得到的新的可操作性指标同样可用于机器人的运动规划；推导出了“被动冗余度”空间机器人的最佳最小二乘运动学优化方程，通过“准自运动”实现被动冗余度空间机器人优化控制；通过对平面3自由度空间站机器人的仿真，证实了分析得到的结论。

INVERSE KINEMATICS OF PASSIVE REDUNDANCY SPACE ROBOTS

The coupling of passive joints and actuated joints in passive redundancy space robots are analyzed, and formulated ameasure about the coupling which can be considered as a performance index in planing robot motion. The kinematics singularity of passive redundancy robots and the difference about the singularity between the passive and the non-passive redundancy robots also are analyzed. A passive redundancy robot manipulability index which also can be used in planing robot motion, is defined. The concept of “proximate self-motion” for the passive redundancy robot, is presented the “proximate self-motion” can optimum the motion when robot completes a end -effector mission. In the simulation faction, a planar 3-DOF space station robot exhibits the ability of the “proximate self-motion” in avoiding the kinematics singularity.