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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一步研究提出了一些看法.
In recent years, scholars are more and more interested in the study of robot redundancy.The existing research on robot redundancy involves a wide range from the design of manipulator, the algorithm of kinematics to the design of control system.In this paper, And its design theory, the advantages and disadvantages of various kinematics algorithms are discussed and compared, and the guidelines of redundancy manipulator design are analyzed, and several opinions on the repeatability of pseudo-inverse control are also discussed. Finally, some suggestions are put forward for the further research of redundancy manipulator kinematics and its design.