| 机器人手臂极限距离分析的代数方法 |
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| 引用本文： | 陈宁新.机器人手臂极限距离分析的代数方法[J].机器人,1988(4). |
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| 作者姓名： | 陈宁新 |
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| 作者单位： | 北京航空学院机器人研究室 |
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| 摘 要： | 本文介绍了一种新的求解机器人手部中心点与机座坐标系中一定点以及手部参考系中一直线与机座上一直线的极限距离的代数方法,推导出了n自由度机器人手臂的点-点和线-线极限距离的代数方程。应用这些方程式,不但可以方便地求解机器人手臂的极限距离问题,而且也为机器人手臂的结构设计提供了某些依据。
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| 关 键 词： | 点-点极限距离 线-线极限距离 位置奇异曲面 工作空间 |
AN ALGEBRAIC METHOD FOR ANALYSIS OF EXTREME DISTANCES OF ROBOT ARM |
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| CHEN Ningxin.AN ALGEBRAIC METHOD FOR ANALYSIS OF EXTREME DISTANCES OF ROBOT ARM[J].Robot,1988(4). |
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| Authors: | CHEN Ningxin |
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| Abstract: | This paper presents a new algebraic method for investigation of extreme distan-ces of robot arm.The algebraic expressions for determination of the following twoclasses of extreme distances are derived:(1)extreme distance between two arbi-tary points located at hand and frame coordinate systems respectively;(2)extrememutual perpendicular distance line between two arbitrary lines located at hand andframe coordinate systems respectively.By using these algebraic expressions the pro-blem of the extreme distances of robot arms with an arbitrary number of joints canbe solved easily. |
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| Keywords: | point-point extreme distance line-line extreme distance singular position surface workspace |
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