摘要
机器人灵活工作空间的分析是机器人运动学至今没有解决的一个问题.由于机器人在灵活工作空间中工作不会受到本身机构对它的限制.所以,机器人灵活工作空间的大小对于提高机器人的操作性能就显得格外重要.本文旨在解决机器人灵活工作空间边界的计算问题.首先.它分析了灵活工作空间边界的性质;其次,用一种新的方法——网络跟踪法确定了灵活工作空间在横截面内的边界;最后.提出了灵活工作空间端边界的求解方法.
The analysis of robot dextrous workspace is a problem of robot kinematics which is not solved today.Because the operations of robot are not limited by its mechanism in dextrous workspace, the size of robotdextrous workspace seems very important in developing its operating properties. This paper deals with thecalculation problem of the boundary of manipulator dextrous workspace. First, it analyses the nature ofthe boundary of dextrous workspace. Secondly, it determines the boundary of dextrous workspace in proj-ect plane with a new method. Lastly, it presents a method of computation of the end boundary of dextrousworkspace.
出处
《机器人》
EI
CSCD
北大核心
1991年第2期18-24,共7页
Robot
