CAJ | 학술논문

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6×6简化为5×5,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.
연구료일충분석궤기인기이위형적신형공제방법.해방법사용선궤하이론분석궤기인선성상관적관절축선시량,종이식별궤기인기이방향화기이관절축,병장선성상관시량대응적Jacobian구진진행렬산제;사용반라선이론구분공작공간적가행운동화불가행운동,장불가행운동대응적Jacobian구진적행진행산제.당궤기인실거일개자유도시,상응만질Jacobian구진유6×6간화위5×5,사궤기인재기이위형처잉능획득정학해.통과대PUMA궤기인방진연구,결과표명료해방법적유효행.
A new approach to the singularity analysis of manipulators is presented. The joint axis linear dependence is determined by using classified line varieties, so that not only the singular configurations of the manipulator can be identified but also the specific axes becoming linearly dependent can be recognized. The task space feasible motions are identified by using reciprocal screws. By isolating the linear dependent columns and rows in the Jacobian matrix, the corresponding singular Jacobian matrix is simplified from 6×6 to 5×5, so that the exact solutions for the manipulator are obtained near singular configurations. In the end, some simulation results for PUMA manipulator are given to demonstrate the effectiveness of this method.