| 冗余度机器人无奇异最小力矩的关节轨迹规划 |
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| 引用本文： | 赵京,白师贤. 冗余度机器人无奇异最小力矩的关节轨迹规划[J]. 机械设计, 1998, 0(8): 10-11 |
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| 作者姓名： | 赵京 白师贤 |
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| 作者单位： | 北京工业大学 |
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| 摘 要： | 本文首先给出了加速度水平上的克服奇异性算法；然后根据切换策略将其与最小力矩法结合在一起，提出了冗余度机器人无奇异最小力矩的关节轨迹规划算法；最后，针对平面三自由度机器人进行了仿真计算。
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| 关 键 词： | 冗余度 机器人 奇异性 关节力矩 轨迹规划 |
The joint trajectory planning of singularity-free minimal joint torques for redundancy robots |
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| (. The joint trajectory planning of singularity-free minimal joint torques for redundancy robots[J]. Journal of Machine Design, 1998, 0(8): 10-11 |
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| Authors: | ( |
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| Affiliation: | Beijing University of Technology |
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| Abstract: | First, this article gives the singularity avoidance algorithm in acceleration level; then it proposes a singularity-free minimal torque method through combining the singularity avoidance algorithm with a minimal torque algorithm in terms of exchange scheme; finally, it presents a simulation example for a planar 3R redundant robot. |
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| Keywords: | Redundancy robots Singularity Joint torques Trajectory planning. |
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