摘要
受冗余机械手的可操作性理论和可操作性椭圆的启发,提出形状变化可操作性理论和形状变化可操作性椭圆。可操作性表示了冗余机械手在形状给定的前提下,它的每一个关节产生速度的性能;形状变化可操作性表示了当冗余机械手的手臂末端被给定任务时,其余中间关节产生速度的性能,即是形状变化性能,手臂末端执行给定的任务,如轨道追踪,因此不具备形状变化可操作性。对可操作性椭圆和形状变化可操作性椭圆进行比较和分析。通过对七关节机械手在二维平面内的轨道追踪和障碍物回避的实例分析、以及对三维空间内的不同姿势(即不同形状)下的七关节机械手所对应的不同形状变化可操作性椭圆的比较分析,能够认识到形状变化可操作性理论的提出对于评估和设计冗余机械手的结构和形状有着重要的实际意义。
The concept of reconfiguration manipulability and reconfiguration manipulability ellipsoid inspired from manipulability and manipulability ellipsoid is presented.The manipulability represents the velocity ability of each link of redundant manipulator when its shape is given.The reconfiguration manipulability represents a shape-changeability of each intermediate link when a prior end-effector task is given.The end-effector is used to execute the given task such as trajectory tracking,so it has no reconfiguration manipulability.Then,manipulability ellipsoid and reconfiguration manipulability ellipsoid are compared and analysed.By the analysis of trajectory tracking and obstacle avoidance of 7-link manipulator in 2D space,and by comparing and analysing the change of reconfiguration manipulability ellipsoids of 7-link manipulator in 3D space when its shape is changed.The proposed theory of reconfiguration manipulability ellipsoid has important and practical meanings for evaluating and designing the redundant manipulator＇s structures and configuration.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2011年第19期38-48,共11页
Journal of Mechanical Engineering
基金
日本国政府文部科学省基金资助项目(19560254)
关键词
冗余机械手
形状变化可操作性
形状变化可操作性椭圆
Redundant manipulator Reconfiguration manipulability Reconfiguration manipulability ellipsoid
