[1]陈安军,许佩霞,李国梁.双臂机器人机构速度方向可操作性研究[J].南京理工大学学报(自然科学版),2005,(02):202-205.
 CHEN An-jun,XU Pei-xia,LI Guo-liang.Velocity Directional Manipulability Measures of Dual Armed Robot[J].Journal of Nanjing University of Science and Technology,2005,(02):202-205.
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双臂机器人机构速度方向可操作性研究
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2005年02期
页码:
202-205
栏目:
出版日期:
2005-04-30

文章信息/Info

Title:
Velocity Directional Manipulability Measures of Dual Armed Robot
作者:
陈安军1 许佩霞1 李国梁2
1. 江南大学机械工程学院, 江苏无锡214122; 2. 信阳师范学院网络信息与计算中心, 河南信阳464000
Author(s):
CHEN An-jun 1 XU Pei-xia 1LI Guo-liang 2
1.School of Mechanical Engineering, Southern Yangtze University,Wuxi 214122, China; 2. Network and Information Center , Xinyang Normal University,Xinyang 464000, China
关键词:
双臂机器人 可操作椭球 方向可操作度 优化方法
Keywords:
dual armed robots manipulability ellipsoid directional manipulability measures opt imization methods
分类号:
TP242
摘要:
针对双臂机器人机构的速度传递性能进行研究。在单臂机器人机构速度可操作椭球和方向可操作度的基础上,定义了双臂机器人机构速度和角速度方向可操作度,度量双臂机器人在当前位形状态下沿指定方向的传速能力,以方向可操作度为目标函数,给出了最佳传速方向和最佳操作位形的优化方法。结果表明,双臂机构的传速能力小于同一系统中任单臂机构,双臂机构在不同方向的传速性能比较平稳
Abstract:
For the dual armed robot , the velocity t ransmission characteristics w ere discussed. On the basis of the manipulability ellipsoid and the direct ional manipulability measure of single armed mechanism velocity , the directional manipulability measures of linear velocity and rotat ion velocity of dual armed mechanism w ere defined and the velocity transmission characterist ics w ere measured in a special direction under a desig nated posture. T aking the manipulability measure of direct ion as the funct ion of target , the optimizat ion methods of opt imal direction of transmission velocity and opt imal manipulat ive conf ig urat ion w ere g iven. The result s show that the velocity t ransmission property of dual armed mechanism is w eak, but it is smoother than that of the single armed mechanism in different direct ions.

参考文献/References:

[ 1] Lee S. Dual r edundant arm co nfiguration optimization with task- oriented dual arm manipulability [ J ] . IEEE Trans Robotics and Automation, 1989, 5( 1) : 78- 97.
[ 2] Klein C A , Blaho B E. Dexterity measures for the design and control o f kinematically redundant manipulators[ J] . Inter J of Robotics Research, 1987, 6( 2) : 72- 83.
[ 3] 蒋新松. 机器人学导论[ M] . 沈阳: 辽宁科学技术出版社, 1994.
[ 4] Chiacchio P, Chiaverini S, Sciavicco L. Global task space manipulability ellipso ids for multiple- arm systems [ J ] . IEEE Trans Robotics and Automat ion, 1991, 7( 5) : 678 - 685.
[ 5] 陈安军. 一种双臂机器人协调运动在线逆动力学算法 [ J] . 机械科学与技术, 2002, 21( 4) : 579- 581.
[ 6] 陈安军. 双臂机器人协调运动的运动学关系[ J] . 机器人, 1998, 20( 增) : 359- 363.

备注/Memo

备注/Memo:
河南省自然科学基金 ( 0 2 110 5 180 0 );河南省高校青年骨干教师资助项目;江南大学“2 11工程”资助项目
作者简介: 陈安军( 1962- ) , 男, 河南潢川人, 教授, 硕士, 主要研究方向: 机器人机构动力学及控制理论。
更新日期/Last Update: 2013-05-23