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针对工业机器人运动学反解过程中奇异位形的回避问题,基于阻尼最小二乘法,推导雅克比矩阵条件数的一个新的上界估计式,并在此基础上提出一种连续阻尼自适应调节方法,使得在运算量较小的条件下能有效的保证算法求解的稳定性。仿真和实验结果表明,与其他相关方法相比,该算法在奇异位形附近关节速度超调小,稳定性好。
Aiming at the avoidance problem of singularity in the inverse kinematics of industrial robots, a new upper bound estimator of Jacobian matrix condition number is deduced based on damping least square method. On the basis of this, a continuous damping adaptive adjustment Method, which makes it possible to effectively guarantee the stability of the algorithm in the condition of small amount of computation. Simulation and experimental results show that compared with other related methods, this algorithm has small joint velocity overshoot in the vicinity of the singularity and good stability.