冗余度机器人操作机运动学及其设计的研究

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吴瑞珉, 刘廷荣, 陶建国, 蔡鹤皋. 冗余度机器人操作机运动学及其设计的研究[J]. 机器人, 1996, 18(1): 55-64.. WU Ruimin, LIU Tingrong, TAO Jianguo, CAI Hegao. STUDY ON KINEMATICS AND DESIGN FOR KINEMATICALLY REDUNDANT ROBOT MANIPULATORS. ROBOT, 1996, 18(1): 55-64..

摘要近年来学者们对机器人冗余的研究越来越感兴趣．现有机器人冗余的研究涉及面很广，从操作机设计、运动学算法到控制系统的设计．本文对冗余度操作机运动学及其设计理论进行了系统综述，讨论并比较了各种运动学算法的优缺点，分析了冗余度操作机设计的准则，并对伪逆控制重复性问题几种观点进行了探讨．文中最后对冗余度操作机运动学及其设计的进-步研究提出了-些看法．

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关键词 ：冗余度, 操作机, 运动学, 设计, 重复性

Abstract：Recently researchers are more and more interested in robot redundancy. In this paper, theories on kinematics and design for kinematically redundant manipulators are reviewed. At first all kinds of inverse kinematic algorithms are compared and discussed, secondly principals for the design of kinematically redundant manipulators are analyzed, thirdly the repeatability under pesudoinverse is investigated. At last, future works on kinematics and design for kinematically redundant manipulators are given.

Key words： Kinematically redundancy manipulator kinematics design repeatability

收稿日期: 1994-12-15

基金资助:863智能机器人机构研究网点实验室基金

作者简介: 吴瑞珉：男，29岁，博士生．研究领域：机器人学，冗余机器人运动学及其操作机设计．
刘廷荣：男，55岁，教授．研究领域：机器人机构学，特种机器人．
陶建国：男，30岁，博士生．研究领域：机器人学．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y1996/V18/I1/55

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