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采用随机概率的蒙特卡罗方法得到了平面机器人的工作空间。由于此方法不用对机器人进行逆 解计算,也不必直接对奇异值进行计算,所以非常适于工作空间边界曲线的绘制。本文的另一 个目的在于扩展一种简单快速的方法,更有效地确定一般平面机器人工作空间的面积。由于工 作空间是由一系列的直线或圆弧曲线构成的封闭图形,所以可以采用矢量法对边界点予以表示, 并用窄矩形对面积进行近似计算。最后,对一个平面机构的实例进行了面积计算和比较分析。 本文介绍的方法不但简单而且在工程中非常实用。
The working space of planar robot is obtained by using Monte Carlo method with random probability. Because this method does not calculate the inverse of the robot and does not need to directly calculate the singular value, it is very suitable for drawing the boundary curve of working space. Another purpose of this paper is to extend a simple and fast method to determine the area of the working space of a typical planar robot more effectively. Because the workspace is a closed graph composed of a series of straight lines or circular arcs, the boundary point can be represented by vector method, and the area can be approximated by narrow rectangle. Finally, the area calculation and comparative analysis of an example of a plane organization. This article describes the method is not only simple and very useful in engineering.