被动冗余度空间机器人运动学综合

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3DOF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

In this article, We have analyzed the coupling of passive joints and actuated joints in passiveredundancy space robots, and formulated a measure about the coupling which can be considered as aperformance index in robot motion planning. We also analyzed the kinematics singularity of passiveredundancy robots and the difference about the singularity between the passive and the non-passiveredundancy robots. We defined a passive redundancy robot manipulability index which also can be used inrobot motion planning and presented the concept of “proximate self-motion” for the passive redundancyrobot, the “proximate self-motion” can optimize the motion when robot completes a end-effector mission. Inthe simulation faction , a planar 3-DOF space station robot exhibits the ability of the “proximate self-motion” in avoiding the kinematics singularity.