【摘要】 本文研究了机器人冗余式操作手运动学问题。应用广义道理论分析了冗余式操作手逆运动学解,在操作空间分析的基础上,指出了7—D操作手构形的灵活性判据——σmin,即Jacobian矩阵的最小奇异值,并用于选择操作手的最优工作位置、构形。更多还原

【Abstract】 This paper studies the kinematic problems of redundant robot manipulators. Generalized inverse is applied to the analysis of inverse kinematic solutions of kinematically redundant robot manipulators. Based on the operation space analysis, the paper points out the dexterity criterion of 7--D robot manipulator configura- tions--(?)min, which is the minimum value of Jacobin matrix. It can be used to select the optimum work position and corfiguration of manipulator.更多还原