机器人2000，Vol.22Issue(6)：439-445,7.
被动冗余度空间机器人运动学综合
INVERSE KINEMATICS OF PASSIVE REDUNDANCY SPACE ROBOTS
何广平 1陆震 1王凤翔2
作者信息
- 1. 北京航空航天大学机电工程系 100083
- 2. 北京2451信箱华宇机器人技术公司 100038
- 折叠
摘要
Abstract
In this article, We have analyzed the coupling of passive joints and actuated joints in passiveredundancy space robots, and formulated a measure about the coupling which can be considered as aperformance index in robot motion planning. We also analyzed the kinematics singularity of passiveredundancy robots and the difference about the singularity between the passive and the non-passiveredundancy robots. We defined a passive redundancy robot manipulability index which also can be used inrobot motion planning and presented the concept of “proximate self-motion” for the passive redundancyrobot, the “proximate self-motion” can optimize the motion when robot completes a end-effector mission. Inthe simulation faction , a planar 3-DOF space station robot exhibits the ability of the “proximate self-motion” in avoiding the kinematics singularity.关键词
空间机器人/被动关节/冗余度/运动学Key words
space-robot/redundancy/passive-joint/kinematics分类
信息技术与安全科学引用本文复制引用
何广平,陆震,王凤翔..被动冗余度空间机器人运动学综合[J].机器人,2000,22(6):439-445,7.
