【摘要】 基于反馈线性化控制理论,推导出了平面3R刚性冗余度机器人的零动态方程.通过Poincare映射图和采用最大Lyapunov指数方法,对平面3R刚性冗余度机器人零空间运动状态(规则或混沌运动)进行了数值模拟,获得了它的自运动状态与其零空间中的矢量之间的关系.研究结果表明,冗余度机器人自运动中的混沌现象不仅与初始条件有关,也与其零空间中的矢量有直接关系.更多还原

【Abstract】 Based on the control theory of feedback linearization, the zero dynamics equation for a planar 3R rigid redundant robot was derived. Using Poincare maps and Lyapunov exponents, the motion state(regular or chaotic motion) of the redundant robot was numerically simulated, and the relationship between its self-motion state and its vectors in the null space was obtained. The research result shows that the chaotic self-motion of a redundant robot is influenced by the initial conditions and has a direct relation with its victors in the null space.更多还原