李国栋, 陈宁新. 机器人工作空间的界限面及其位置奇异曲面的代数求解方法[J]. 机器人, 1988, 10(6): 25-31.
引用本文: 李国栋, 陈宁新. 机器人工作空间的界限面及其位置奇异曲面的代数求解方法[J]. 机器人, 1988, 10(6): 25-31.
LI Guodong, . ALGEBRAIC DERIVATION OF SINGULAR POSITION SURFACES AND WORKSPACE BOUNDARY SURFACES OF A MANIPULATOR[J]. ROBOT, 1988, 10(6): 25-31.
Citation: LI Guodong, . ALGEBRAIC DERIVATION OF SINGULAR POSITION SURFACES AND WORKSPACE BOUNDARY SURFACES OF A MANIPULATOR[J]. ROBOT, 1988, 10(6): 25-31.

机器人工作空间的界限面及其位置奇异曲面的代数求解方法

ALGEBRAIC DERIVATION OF SINGULAR POSITION SURFACES AND WORKSPACE BOUNDARY SURFACES OF A MANIPULATOR

  • 摘要: 本文提出了一个求解运动副转角或移动有限制的任意机械手的工作空间界限面及其位置奇异曲面的代数方法.得出了手部参考点在固定坐标系中的一系列位置奇异曲面方程.并以5R,6R和5R-P机器人为例,使用计算机绘制出其工作空间上述各种曲面的子午截面曲线图.结果与其它方法相比,具有精度高,运算快的特点,不仅具有理论意义,而且还有实用价值.

     

    Abstract: This paper presents a new method of the determination of singular position surfaces of the reference point on the hand,the boundary surfaces of workspace of anarbitrary n D.O.F manipulator,which may be plane,spherical,or spatial,withlimited revolute and prismatic joints.For illustration,5R,6R and 5R-P manipulatorsare taken as examples.Comparing with all other methods previously used in this subject,our method possesses higher precision and takes shorter CPU time.

     

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