[1]张恩洲,朱岩,韩军.机器人的逆变换及退化问题[J].南京理工大学学报(自然科学版),1997,(06):54-57.
 Zhang EnzhouZhu YanHan Jun.Inverse Transformation of Robot and Its Degeneration[J].Journal of Nanjing University of Science and Technology,1997,(06):54-57.
点击复制

机器人的逆变换及退化问题()
分享到:

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
1997年06期
页码:
54-57
栏目:
出版日期:
1997-12-30

文章信息/Info

Title:
Inverse Transformation of Robot and Its Degeneration
作者:
张恩洲朱岩韩军
南京理工大学制造工程学院, 南京210094
Author(s):
Zhang Enzhou Zhu Yan Han Jun
School of Manufacturing Engineering ,NUST ,Nanjing 210094
关键词:
机器人 逆变换 退化
Keywords:
robot t rans format ion degeneration
分类号:
TP242
摘要:
该文结合一个实际的具有闭链结构的工业机器人,介绍了它的运动方程及其逆解,文中重点讨论了它的全局退化及局部退化问题。作者通过机器人运动方程的雅可比矩阵秩的分析,找出它的全局退化点,而求解运动方程的机器人坐标,确定出它的局部退化点。找出这些退化点,就可以对机器人结构的设计及路径的规划给予理论上的指导。
Abstract:
In the paper, An indust rial robot w ith closed chain st ructure in real use is introduced and its kinemat ic equation and invers esolut ion are presented. T he global and local degenerat ion of the robot is mainly discus sed. T he global degenerat ion point s are found by analyzing the Jacobi-M at rix′s rank of the kinematic equation. T hrough solving the equat ion, the robot coordination can be got ten and local degenerat ion points can be det ermined. T he inf ormation on the degenerat ion point s is useful when des igning a robot and planning it s traject ory.

参考文献/References:

1  Hiller M , Wanner M C, Sallam E M . Pro gr ammsystem zur behandlung der rueckw aertstransfo rmatio n bei sechsachsigen industr ier obot ern. Robot ersysteme , 1986, 4: 211~216
2 Richard P Paul. Robo t mamipula tor s: mathemat ics, pro gr amming and co nt ro l. U. S . A: M IT,1982. 53~59, 85~95
3 马香峰. 机器人机构学. 北京: 机械工业出版社, 1991, 9: 76~87

相似文献/References:

[1]王义萍,陈庆伟,胡维礼,等.基底神经节的尖峰神经元网络模型及其在机器人中的应用[J].南京理工大学学报(自然科学版),2010,(06):717.
 WANG Yi-ping,CHEN Qing-wei,HU Wei-li.Spiking Neuron Network Model of Basal Ganglia and Its Application in Robot[J].Journal of Nanjing University of Science and Technology,2010,(06):717.
[2]唐振民,赵春霞,孙怀江,等.地面自主移动平台信息融合与路径规划系统[J].南京理工大学学报(自然科学版),2003,(01):6.
 TangZhenmin ZhaoChunxia SunHuaijiang LuJianfeng YangJingyu.The Information Fusion and Trejectory Planning System for Autonomous Ground Vehicle[J].Journal of Nanjing University of Science and Technology,2003,(06):6.
[3]唐振民,赵春霞,杨静宇,等.基于动态规划思想的多机器人路径规划[J].南京理工大学学报(自然科学版),2003,(05):610.
 TangZhenmin ZhaoChunxia YangJingyu ZhangJin.Multi-robot Path Planning Based on Dynamic Programming[J].Journal of Nanjing University of Science and Technology,2003,(06):610.
[4]沈为民,王炎,赵言正,等.一种用于电站清扫的新型移动机器人的研制[J].南京理工大学学报(自然科学版),2001,(01):53.
 ShenWeimin WangYan ZhaoYanzheng PanPeilin.A Novel Mobile Robot for Power Plant Cleaning[J].Journal of Nanjing University of Science and Technology,2001,(06):53.
[5]郭毓,马勤弟,许春山,等.搬运机器人伺服系统的研究[J].南京理工大学学报(自然科学版),2001,(03):332.
 GuoYu MaQindi XuChunshan HuBin MaoJian.A Study on Servo System of Transport Robot[J].Journal of Nanjing University of Science and Technology,2001,(06):332.
[6]韩军,郝立.机器人关节空间的轨迹规划及仿真[J].南京理工大学学报(自然科学版),2000,(06):540.
 HanJun HaoLi.Trajectory Planning and Simulation of Robot in Joint Coordinate System[J].Journal of Nanjing University of Science and Technology,2000,(06):540.
[7]张恩洲,吴瑞珉.JZ-1 机器人轨迹插补及控制算法[J].南京理工大学学报(自然科学版),1998,(03):56.
 Zhang Enzhou Wu Ruimin.Path Interpolation and Control Algorithms for JZ-1 Robot[J].Journal of Nanjing University of Science and Technology,1998,(06):56.
[8]谭丹娜,薛焕然.换刀机器人位姿误差的研究[J].南京理工大学学报(自然科学版),1996,(02):47.
 Tan Danna Xue Huanran.Study on the Position and Orientation Error of Tool Exchange Robot[J].Journal of Nanjing University of Science and Technology,1996,(06):47.
[9]毕诸明,李小宁.机器人操作机位姿空间的测度[J].南京理工大学学报(自然科学版),1996,(03):265.
 Bi Zhuming,Li Xiaoning.Measurability Posture Space of Robot Manipulator[J].Journal of Nanjing University of Science and Technology,1996,(06):265.
[10]段齐骏,黄德耕.机器人工作空间与包容空间的图解法[J].南京理工大学学报(自然科学版),1996,(04):35.
 Duan Qijun Huang Degen Li Shinan.The Graphic Methods of Robot Workspace and Inscribed Cube[J].Journal of Nanjing University of Science and Technology,1996,(06):35.

备注/Memo

备注/Memo:
江苏省“九五”科技攻关项目
张恩洲 男 55岁 副教授
更新日期/Last Update: 2013-03-29