摘要
本文首先讨论了双手协调系统的位姿空间描述问题,包括确定自由度的维滕伯格法、位姿可达空间,以及双手协调系统躲避障碍的位姿空间法,最后提出了现实可行的仿真途径。
This paper investigates the configuration space description and collision avoidance problem fordual-robot coordination system, the two cooperating robot arms is modelled as a closed chain system dueto constrained relationship, then an algorithm computing the degree of freedom is given by Wittenburgmethod, and the explicit representation of the reachable configuration space is presented, finally, a proce-dure solving the paths planning problem for two cooperating robots in the presence of obstacles is devel-oped.
出处
《机器人》
EI
CSCD
北大核心
1991年第5期20-22,共3页
Robot
关键词
机器人
双手
协调系统
位姿空间
collision avoidance
configuration space
closed chain
dual-robot arms coordination
