作 者: ;
机构地区: 东莞理工学院机械工程学院机电建筑工程系
出 处: 《东莞理工学院学报》 1998年第2期30-33,共4页
摘 要: 阐述了一种用来分析奇异位形的新方法,此方法的建立是基于虚位移原理来对余冗操作手列出力平衡方程组的,通过求解方程组,可方便地找出奇异位形。 In order to determin singular configuration of robot manipulator with redundancy, jacobianmethod may be adopted. However this method has the disadvantage: of being complicated in calculation.In this paper, we present a new method of analysing singular configuration, which is based on usingvirtual displacement principle to list the force balance equations for manipulator with redundancy.Solving the equations we can easily find out the singular configamtion.
关 键 词: 机器人 冗余度 虚位移原理 奇异位形 冗余机器人
领 域: [自动化与计算机技术] [自动化与计算机技术]