| 双臂机器人的协作工作空间数值计算方法 |
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| 引用本文： | 芦俊,池宏勋,席文明,颜景平. 双臂机器人的协作工作空间数值计算方法[J]. 中国机械工程, 2001, 12(Z1): 125-127 |
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| 作者姓名： | 芦俊 池宏勋 席文明 颜景平 |
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| 作者单位： | 1. 东南大学,南京市,210096
2. 湖南株洲工学院,湖南省株洲市,412008 |
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| 基金项目： | 国家计委211工程资助项目(2102002001) |
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| 摘 要： | 讨论了双臂机器人的协作工作空间问题，给出了计算多关节双臂机器人协作工作空间的数值方法。该方法以极值理论为基础，采用边界提取和阈值判决，确定双臂机器人的协作工作空间界限曲面和极限位置。通过对六自由度转动关节双臂机器人的数值计算实例表明了该算法的可行性。
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| 关 键 词： | 双臂机器人；工作空间；数值计算；界限曲线 |
| 文章编号： | 1004-132Ⅹ(2001)S1-0125-03 |
| 修稿时间： | 2000-05-18 |
Digital Igital Calcuiationof Cooperative Workspace of Dual-arm Robot |
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| LU Jun,CHI Hongxun,XI Weiming,YAN jingpin. Digital Igital Calcuiationof Cooperative Workspace of Dual-arm Robot[J]. China Mechanical Engineering, 2001, 12(Z1): 125-127 |
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| Authors: | LU Jun CHI Hongxun XI Weiming YAN jingpin |
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| Abstract: | In this paper, cooperative workspace of dual-arm robot is discussed and an algorithm for cooperative workspace of multi-joint dual-arm robot is introduced. By using this algorithm, which is based on optimum theory, the boundary surface and extreme position of cooperative workspace of dual-arm robot is derived though choosing boundary and deciding intersection. The algorithm has been proved to be feasible by simulation to a 6R dual-arm robot. |
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| Keywords: | dual-arm robot cooperative workspace digital calculation borderline |
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