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机械手运动过程中的奇异位形是很重要的,而奇异位形对于研究机械手的动力学问题也是十分重要的。雅可比矩阵正是研究这种微分关系的数学方法,它反映了操作空间速度与关节空间速度之间的线性映射关系。本文推导了六自由度关节机器人的雅可比矩阵,对关节型机器人的动力学及轨迹规划进一步研究提供了理论支持。
The singularity of the robot during the movement is very important, and the singularity of the robot is very important for studying the dynamics of the robot. Jacobian matrix is the mathematical method to study this differential relationship, which reflects the linear mapping between operating space velocity and joint space velocity. In this paper, the Jacobian matrix of a six-degree-of-freedom articulated robot is deduced, which provides theoretical support for the further study on the dynamics and trajectory planning of articulated robots.