| 基于力方向可操作度的双臂机器人轨迹规划 |
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| 引用本文： | 汪军,陈安军,张宏涛. 基于力方向可操作度的双臂机器人轨迹规划[J]. 机械科学与技术, 2007, 26(8): 1020-1024 |
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| 作者姓名： | 汪军 陈安军 张宏涛 |
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| 作者单位： | 江南大学,机械工程学院,无锡,214122;江南大学,机械工程学院,无锡,214122;江南大学,机械工程学院,无锡,214122 |
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| 摘 要： | 在双臂机器人力可操作度椭球的基础上,定义双臂机器人力方向可操作度,以力方向可操作度为性能指标,给出了双臂协调运动关节轨迹规划,理论及算例仿真分析结果表明本文规划方法的可行性。
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| 关 键 词： | 双臂机器人 力方向可操作度 轨迹规划 |
| 文章编号： | 1003-8728（2007）08-1020-05 |
| 修稿时间： | 2006-07-05 |
Trajectory Planning of Dual-armed Robot Based on Force-directional Manipulability |
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| Wang Jun,Chen Anjun,Zhang Hongtao. Trajectory Planning of Dual-armed Robot Based on Force-directional Manipulability[J]. Mechanical Science and Technology for Aerospace Engineering, 2007, 26(8): 1020-1024 |
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| Authors: | Wang Jun Chen Anjun Zhang Hongtao |
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| Affiliation: | School of Mechanical Engineering, Southern Yangtze University, Wuxi 214122 |
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| Abstract: | We define the force-directional manipulability of a dual-armed robot in terms of its force manipulability ellipsoid.Taking the force-directional manipulability as a performance index,we present the trajectory planning of the coordinated motion of the joints of the robot's two arms.Numerical simulation results show that the trajectory planning through comparing force-directional manipulability is effective. |
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| Keywords: | dual-armed robot force-directional manipulability trajectory planning |
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