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把机器人操作器的杆件的柔度按照势能等效原理附加到杆件的伺服关节柔度上 ,称为等效关节柔度 ;利用操作器的关节空间和直角坐标空间的对偶关系 ,得到操作器末端的等效柔度矩阵 ,并提出了综合柔度的概念 ,以表明操作器末端柔度大小 ;结合冗余度机器人操作器的可操作性能 ,提出了在柔性冗余度机器人中操作器的柔性和可操作性对其性能的综合影响指标———可操作性柔度。通过调整冗余度机器人的“自运动”最小化可操作性柔度 ,从而取得具有较低的柔性和较好的操作性能的操作器的最佳工作姿态 ,为柔性冗余度机器人的控制提供了依据。
The robot manipulator rod flexibility in accordance with the potential energy equivalent principle attached to the servo joint flexibility of the rod, known as the equivalent joint flexibility; the use of manipulator joint space and Cartesian coordinate space dual relationship, get the operation The equivalent flexibility matrix of the end of the robot is proposed and the concept of comprehensive flexibility is proposed to show the flexibility of the end effector.According to the operability of the redundant robot manipulator, The flexibility and operability of its comprehensive performance indicators --- operational flexibility. By adjusting the “self-motion” of redundant robots to minimize the operational flexibility, the optimal working attitude of the manipulator with lower flexibility and better operation performance is obtained, which provides the control of the flexible redundancy robot The basis.