论文部分内容阅读
作为冗余机械臂结构设计和控制算法设计的理论基础，本文对机械臂的运动奇异性问题进行了分析。引入了冗余机械臂零运动微分动力系统的概念，根据非线性奇异性理论，研究了冗余机械臂奇异状态的局部拓扑性质及可回避性，提出了一种冗余机械臂系统奇异状态类型及可回避性的新方法，其结果适用于任意冗余的机械臂系统。
As a theoretical basis for the design of redundant manipulator structure and control algorithm design, this paper analyzes the problem of the movement singularity of manipulator. Based on the theory of nonlinear singularity, the local topological property and avoidability of the singular state of the redundant manipulator are studied. A singular state type of redundant manipulator system is proposed. And avoidance of the new method, the results for any redundant robotic system.