摘要
本文在速度水平上讨论了机器人操作手的运动灵活性,根据机器人操作手的运动灵活性完全取决于雅可比矩阵列向量的相关性这一分析,提出用雅可比矩阵的子阵 J_m 的总体相关性指标和相对相关性指标作为机器人操作手的运动灵活性测度,定义了运动灵活性的两个度量指标——绝对灵活度 D_α和相对灵活度 D_r;并论证了绝对灵活度 D_α和可操作度 W,相对灵活度 D_r 和可操作度 W、条件数 K 及最小奇异值σ_m 之间的关系;证明了绝对灵活度 D_α和可操作度 W 的等价性,并给出了可操作度的新的定义.从而全面论证了本文提出的操作手的运动灵活性测度的合理性.
In this paper kinematic dexterity of robotic manipulators with redundancy is discussed at velocitylevel and the index of general kinematic dexterity-measure and the index of relative kinematictexterity-measure are presented according to the dependence of kinematic dexterity on the relativity ofcolumn vectors of the Jacobian matrix.The relation between the general kinematic dexterity-measureand the manipulability of the manipulator and between the relative kinematic dexterity-measure and thecondition number,the minimum singular value are expounded,which demonstrates the applicability oftwo indexes of kinematic dexterity-measure presented in this paper.
出处
《机器人》
EI
CSCD
北大核心
1989年第5期35-42,共8页
Robot
关键词
机器人
操作手
冗余度
灵活性
robotic manipulator
dexterity
redundancy
relativity
measure
