中国机械工程2012，Vol.23Issue(10)：1165-1169,1174,6.
六自由度装校机器人雅可比矩阵的建立及奇异性分析
Establishment of Jacobian Matrix and Singularity Analysis of a 6--DOF Installing--calibrating Robot
摘要
Abstract
Aimed at a 6--DOF installing--calibrating robot, coordinate systems of joints were set up and D--H parameters were obtained by using D--H methods. Then the positions of its moving elements and end--effectors with their relationship were presented and the forward kinematic solution were derived. A Jacobian matrix of the installing--calibrating robot was established based on differential methods. And singular values of the Jacobian matrix and the condition numbers of installing--cali- brating robot were analyzed. It provides the theoretical basis and important data for the robot trajectory planning and online real--time calculation under actually working environments.关键词
装校机器人/末端执行器/雅可比矩阵/奇异性Key words
installing-- calibrating robot/end-- effector/Jacobian matrix/singularity分类
信息技术与安全科学引用本文复制引用
李诚,谢志江,倪卫,刘楠..六自由度装校机器人雅可比矩阵的建立及奇异性分析[J].中国机械工程,2012,23(10):1165-1169,1174,6.基金项目
基金项目：国家科技重大专项（RCLF-GL-HTT01.2.0（2005）110） （）
