朱向阳, 钟秉林, 熊有伦. 机器人运动学反解中的奇异点处理[J]. 机器人, 1996, 18(5): 264-267.
引用本文: 朱向阳, 钟秉林, 熊有伦. 机器人运动学反解中的奇异点处理[J]. 机器人, 1996, 18(5): 264-267.
ZHU Xiangyang, ZHONG Binglin, XIONG Youlun. SINGULARITIES TREATMENT FOR MANIPULATOR INVERSE KINEMATICS EVALUATION[J]. ROBOT, 1996, 18(5): 264-267.
Citation: ZHU Xiangyang, ZHONG Binglin, XIONG Youlun. SINGULARITIES TREATMENT FOR MANIPULATOR INVERSE KINEMATICS EVALUATION[J]. ROBOT, 1996, 18(5): 264-267.

机器人运动学反解中的奇异点处理

SINGULARITIES TREATMENT FOR MANIPULATOR INVERSE KINEMATICS EVALUATION

  • 摘要: 本文研究机器人运动学反解中的奇异点处理问题,给出了机器人微分运动Jacobian矩阵Jq)条件数的一个上界,并在此基础上提出机器人关节速度阻尼伪逆解方法中阻尼系数的一种自适应调整方法,该方法可以保证在奇异点附近伪逆解的稳定性.

     

    Abstract: Methods using the Jacobian matrix are quite effective for manipulator inverse kinematic solution except in regions near singular points. Many approaches have been developed to handle the singularity problem. In this paper, an algorithm using damped pseudoinverse with variable damped weight is introduced for inverse kinematic solution. An upper bound of condition number of the Jacobian matrix is established, according to the value of this upper bound, a method to adaptively adjust the damped weight is proposed. The introduced algorithm is stable in regions near singular points and can achieve accurate solution.

     

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