| 利用协调控制法回避机械手的奇异位形 |
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| 引用本文： | 邹婷,陆震.利用协调控制法回避机械手的奇异位形[J].机器人,1994,16(4):207-214. |
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| 作者姓名： | 邹婷 陆震 |
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| 作者单位： | 北京工业大学基础科学部 |
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| 摘 要： | 本文考虑到目前回避６自由度机器人之奇异位形的方法在控制上的不足，将陆震先生１９９０年提出的协调控制法加以推广，该方法能充分利用不定位形的特点回避奇异位形，可以较有效地用于６自由度机器人的控制而不会发生关节速度超限和手部运动偏差，是目前一种较理想的回避奇异方法。
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| 关 键 词： | 机械手 奇异位形 协调控制 机器人 |
AVOIDING SINGULARITIES OF MANIPULATORS WITH THE METHOD OF MOTION COORDINATIONAL CONTROL |
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| ZOU Ting,LU Zhen.AVOIDING SINGULARITIES OF MANIPULATORS WITH THE METHOD OF MOTION COORDINATIONAL CONTROL[J].Robot,1994,16(4):207-214. |
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| Authors: | ZOU Ting LU Zhen |
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| Abstract: | Many methods to avoid singularities have been developed, but there are many defects while working with them.A new method of the motion-coordinational control is given out in this paper. It makesfull use of the character of uncertainty configuration,and can avoid to exceed the speed limit and motion errorof end-effector. I think that the method of motion-coordinational control is a good method for avoiding singu-larities of arbitrary six degree-of-freedom manipulators. |
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| Keywords: | Manipulator singularity uncertainty configuration motion-coordinational control |
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