Journal of Beijing University of Posts and Telecommunications

  • EI核心期刊

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2004, Vol. 27 ›› Issue (4): 74-77.

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A New Method for Improving Flexibility of Redundant Robot

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

  1. 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

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

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