【摘要】 冗余度机器人 ,从运动学的观点来说就是指完成某一特定任务时 ,机器人具有多余的自由度。多余的自由度可用来改善机器人的运动及动力学特性 ,如增加灵活性、躲避障碍、回避奇异、优化主运动任务下的辅助操作指标、优化关节速度、加速度、力矩、能量等。冗余度机器人由于其自身众多优点而越来越受到人们的关注。本文介绍了冗余度刚性机器人、冗余度柔性机器人研究的发展现状及存在的问题更多还原

【Abstract】 A redundant robot has more degrees of freedom than what is needed to a unique task.The redundancy in robot manipulators can improve robots’ kinematic and dynamic performance such as increasing dexterity and versatility,avoiding obstacles and singularities,optimizing joint velocity,joint acceleration,torque and energy.The studies of redundant robots have drawn a lot of attention because of these advantages.This survey includes the development of rigid and flexible redundant robots.The development direction in this research field is pointed out at last.更多还原