| 冗余度机器人基于任务的方向可操作度研究 |
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| 引用本文： | 姚建初,丁希仑,战强,张启先. 冗余度机器人基于任务的方向可操作度研究[J]. 机器人, 2000, 22(6): 501-505 |
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| 作者姓名： | 姚建初 丁希仑 战强 张启先 |
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| 作者单位： | 北京航空航天大学机器人研究所 100083 |
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| 基金项目： | 国家863计划项目资助。 |
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| 摘 要： | 分析了机器人传统可操作度概念在实际应用中的不妥之处，定义了基于任务的方向可操作度，给出了其解析表达式，并利用方向可操作度作为目标函数进行冗余度机器人的运动学优化．仿真结果表明，同传统的可操作度相比，基于任务的方向可操作度更具有实际应用意义．
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| 关 键 词： | 冗余度机器人 方向可操作度 可操作度椭球 |
| 文章编号： | 1002-0446(2000)06-0501-05 |
| 修稿时间： | 2000-04-13 |
ON TASK-BASED DIRECTIONAL MANIPULABILITY MEASURE OF REDUNDANT ROBOT |
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| YAO Jian-chu,DING Xi-lun,ZHAN Qiang,ZHANG Qi-xian. ON TASK-BASED DIRECTIONAL MANIPULABILITY MEASURE OF REDUNDANT ROBOT[J]. Robot, 2000, 22(6): 501-505 |
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| Authors: | YAO Jian-chu DING Xi-lun ZHAN Qiang ZHANG Qi-xian |
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| Affiliation: | Robotics Research Institute at Beijing University of Aeronautics and Astronautics 100083 |
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| Abstract: | Based on the analysis of the conventional manipulability measure(MM), the task based directional manipulability measure (TBDM) was defined in this paper. The analytic expression of TBDM was given by the author and was used as the objective function to optimize the robot configuration. Simulation shows that TBDM is more significative than the conventional MM in practical applications. |
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| Keywords: | redundant robot DM MM ellipsoid |
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