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本文对冗余度操作机最为常用的求逆解方法——扩展作业空间方法的算法奇异问题进行了深入的研究.Klein[2,4]及Cho[3,5]提出冗余度机器人采用扩展作业空间方法必须首先确定由于性能指标函数及扩展Jacobian矩阵所引起的算法奇异在关节空间中的分布区域,只有这样才能避免方法引起的算法奇异.通过本文对扩展作业空间方法的优化性能指标函数的必要条件及算法奇异产生的条件的比较及研究,得出了在应用扩展作业空间方法时,不可能出现算法奇异的情况.因此在应用扩展作业空间方法时无需考虑算法奇异问题.
In this paper, the most common inversion method of redundant manipulator is the singularity problem of algorithm of extended working space. Klein [2, 4] and Cho [3, 5] proposed that redundant robots using extended workspace must first determine the distribution area of the singularities of the algorithm in the joint space caused by the performance index function and the extended Jacobian matrix. Only in this way can Algorithm to avoid the method of singularity. Through the comparison and research on the necessary conditions for optimizing the performance index function of the extended workspace method and the conditions for generating the singularities in the extended workspace method, it is concluded that the singularity of the algorithm can not occur when the extended workspace method is applied. Therefore, there is no need to consider the algorithm singularity problem when applying the extended working space method.