邹婷, 陆震. 利用协调控制法回避机械手的奇异位形[J]. 机器人, 1994, 16(4): 207-214.
引用本文: 邹婷, 陆震. 利用协调控制法回避机械手的奇异位形[J]. 机器人, 1994, 16(4): 207-214.
ZOU Ting, LU Zhen. AVOIDING SINGULARITIES OF MANIPULATORS WITH THE METHOD OF MOTION COORDINATIONAL CONTROL[J]. ROBOT, 1994, 16(4): 207-214.
Citation: ZOU Ting, LU Zhen. AVOIDING SINGULARITIES OF MANIPULATORS WITH THE METHOD OF MOTION COORDINATIONAL CONTROL[J]. ROBOT, 1994, 16(4): 207-214.

利用协调控制法回避机械手的奇异位形

AVOIDING SINGULARITIES OF MANIPULATORS WITH THE METHOD OF MOTION COORDINATIONAL CONTROL

  • 摘要: 本文考虑到目前回避6自由度机器人之奇异位形的方法在控制上的不足,将陆震先生1990年提出的协调控制法加以推广.该方法能充分利用不定位形的特点回避奇异位形,可以较有效地用于6自由度机器人的控制而不会发生关节速度超限和手部运动偏差,是目前一种较理想的回避奇异方法.

     

    Abstract: Many methods to avoid singularities have been developed, but there are many defects while working with them.A new method of the motion-coordinational control is given out in this paper. It makesfull use of the character of uncertainty configuration,and can avoid to exceed the speed limit and motion errorof end-effector. I think that the method of motion-coordinational control is a good method for avoiding singularities of arbitrary six degree-of-freedom manipulators.

     

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