7自由度冗余手臂的自运动流形

定义适用于位姿解耦的冗余度机器人的位置子流形和姿态子流形，根据位置子流形和姿态子流形性质的不同将末端操作器位姿空间分割为三个子空间，以矢量代数为工具用参数方程的形式给出各子空间中机构的位置子流形和姿态子流形，将位置子流形和姿态子流形配对得到了机构的自运动流形。最后以第一个子空间为例，对机构的自运动进行仿真，求解给定点的自运动流形并用正解进行了验证。这种利用位置子流形和姿态子流形配对来研究自运动流形的方法，同样适用于其他形式的位姿解耦的冗余度机器人。

SELF-MOTION MANIFOLDS OF A 7-DOF REDUNDANT ROBOT ARM

The position sub-manifold and orientation sub-man- ifold are defined for the redundant robots in which the end manipulator's position and orientation are decoupled.The end manipulator's workspace is divided into three subspaces accor- ding to the difference of position sub-manifold and orientation sub-manifold.The position sub-manifold and the orientation sub-manifold in all subspaces are expressed as parameter equations by vector algebra,so the self-motion manifold can be obtained as the matched pair that is formed by position sub-manifold and orientation sub-manifold.A simulation is carried out in the first subspace to obtain the self-motion manifolds for a given point,and the result is verified by forward kinematics.The method to solve self-motion manifold with position sub-manifold and orientation sub-manifold is also valid for other kinds of redundant robots in which the end manipulator's position and orientation are decoupled.