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研究了一种分析机器人奇异位形的新型控制方法。该方法使用线几何理论分析机器人线性相关的关节轴线矢量,从而识别机器人奇异方向和奇异关节轴,并将线性相关矢量对应的Jacobian矩阵进行列删除;使用反螺旋理论区分工作空间的可行运动和不可行运动,将不可行运动对应的Jacobian矩阵的行进行删除。当机器人失去一个自由度时,相应满秩Jacobian矩阵由66简化为55,使机器人在奇异位形处仍能获得精确解。通过对PUMA机器人仿真研究,结果表明了该方法的有效行。
A new control method to analyze robot’s bizarre bitmap is studied. The method uses the line geometry theory to analyze the robot linearly related joint axis vector to identify the robot’s singular direction and the singular joint axis, and deletes the Jacobian matrix corresponding to the linear correlation vector. The anti-helix theory is used to distinguish the workable space from the feasible one Line motion, will be infeasible movement corresponding Jacobian matrix line deleted. When the robot loses one degree of freedom, the corresponding full rank Jacobian matrix is reduced from 66 to 55 so that the robot can still obtain the exact solution at the singularity position. Through the simulation of PUMA robot, the results show that the method of effective line.