基于条件数约束的方向可操作度

现有灵活性指标--方向可操作度在规划过程中往往会出现条件数较大的情况,不利于控制.针对这一问题,提出基于条件数约束的方向可操作度这一新指标,分析该指标的偏导随条件数增大的变化情况.当条件数较小时,指标主要受方向可操作度的影响;条件数不断增大时,方向可操作度对指标的影响逐渐削弱,条件数对指标的影响不断增大.通过优化侧重点的改变,该指标能使优化结果的条件数小于任务要求的最大条件数的同时最大限度地保留方向可操作度.平面3R、BUAA-RR机器人的数值仿真和平面3R机器人的试验研究证明新指标的优越性.此外,将该指标应用于冗余度机器人的容错操作这一特殊领域,它可以使机器人在运动中任何时刻重构的新机械臂在任务方向上具有较高的操作能力,并且能够保证条件数较小,避免奇异情况的发生.

Directional Manipulability Constrained by the Condition Number

There is often such a situation that the condition number of the optimization results based on the directional manipulability is very large,which is not conductive for control.To solve this problem,a new dexterity index-directional manipulability constrained by the condition number is proposed.The changing pattern of the partial derivative of this index with the increase of the condition number is analyzed.When the condition number is small,the index is mainly influenced by the directional manipulability.Wh...