改善冗余度机器人灵活性的研究

北京邮电大学学报 ›› 2004, Vol. 27 ›› Issue (4): 74-77.

改善冗余度机器人灵活性的研究

张秋豪,　孙汉旭,　魏世民

北京邮电大学自动化学院, 北京100876

收稿日期:2003-05-23 出版日期:2004-04-28
作者简介:张秋豪( 1970— ) , 男, 博士生. E-mail: zhangqhao@ sina. Com；孙汉旭( 1960— ) , 男, 教授, 博士生导师. E-mail:hx sun@ b upt. edu. cn
基金资助:
国家“ 863计划”项目( 2002AA742030)

A New Method for Improving Flexibility of Redundant Robot

ZHAN G Qiu-hao, 　SUN Han-x u,　WEI Shi-min

Aut omation School, Beijing Univ ersi t y of Pos ts and Telecommu ni cati ons, Beijing 100876, Ch ina

Received:2003-05-23 Online:2004-04-28

摘要/Abstract

摘要： 通过研究冗余度机器人系统的灵活性问题,给出一种矢量逼近的控制算法. 该算法根据均值定理,利用雅可比矩阵的特征值及所对应的特征向量,构成冗余度机器人的零空间矢量;通过机器人的自运动,提高了冗余度机器人的灵活性. 最后,给出一个平面3R机器人的仿真实例,在收敛速度方面和稳定性方面与其他方法进行了对比.

关键词: 速度比椭球, 矢量逼近, 灵活性

Abstract: The problem of improving flexibi li ty o f redundant robot is studied. Amethod for improv ing flexibi li ty o f redundant robot in which tw o v ectors approach each o ther is pro posed. Based o n mean theorem, the method combines Jacobian’ seigenv alue wi th i t s eigenv ector to fo rm a null space v ector o f redunda ntrobot. The flexibi lity of robot is improved by the self-motion of robot. Finally , a simulation example fo r a plana r 3R redundant robot is presented to compare co nv ergence and stabili ty w ith those o f other method.

Key words: velocity ratio ellipse ball, vecto rapproaching method, flexibility

中图分类号:

T P24

张秋豪,　孙汉旭,　魏世民. 改善冗余度机器人灵活性的研究[J]. 北京邮电大学学报, 2004, 27(4): 74-77.

ZHAN G Qiu-hao, 　SUN Han-x u,　WEI Shi-min. A New Method for Improving Flexibility of Redundant Robot[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2004, 27(4): 74-77.