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分析了“被动冗余度”空间机器人主 ,被动关节之间的运动学耦合 ,得到了可用于运动学规划的耦合指标 ;分析了“被动冗余度”空间机器人的运动学奇异问题 ,以及与对应全主动关节冗余度空间机器人的运动学奇异的区别 ,得到的新的可操作性指标同样可用于机器人的运动规划 ;推导出了“被动冗余度”空间机器人的最佳最小二乘运动学优化方程 ,通过“准自运动”实现被动冗余度空间机器人优化控制 ;通过对平面 3DOF空间站机器人的仿真证实了分析得到的结论
The kinematic coupling between the primary and the passive joints of “passive redundancy” space robot is analyzed and the coupling index which can be used in the kinematics planning is obtained. The singularity problem of the kinematics of “passive redundancy” space robot is analyzed, Corresponding to the singular difference of kinematics of space robot with all-active joint redundancy, the new maneuverability index obtained can also be used in the robot’s motion planning. The best least square motions of “passive redundancy” space robot are deduced. Optimization equations are optimized by using “quasi-self-motion” to realize the passive redundancy space robot. The conclusion of the analysis is confirmed by the simulation of the plane 3DOF space station robot