CAJ | 학술논문

冗余度机器人的初始位形对关节轨迹规划有很大影响。提出了一种基于最优初始位形的机器人可操作度优化方法，在以可操作度为性能指标对机器人的关节轨迹进行规划时，如果以优化出的可操作度最优的位形为初始位形，就可以提高执行任务初期的可操作度。算例仿真结果表明，这种基于最优初始位形的机器人可操作度优化方法可以提高机器人在执行任务开始时的可操作度，免去初期的调整过程，使其在整个运动过程中一直处于灵活性很高的位形。
용여도궤기인적초시위형대관절궤적규화유흔대영향。제출료일충기우최우초시위형적궤기인가조작도우화방법，재이가조작도위성능지표대궤기인적관절궤적진행규화시，여과이우화출적가조작도최우적위형위초시위형，취가이제고집행임무초기적가조작도。산례방진결과표명，저충기우최우초시위형적궤기인가조작도우화방법가이제고궤기인재집행임무개시시적가조작도，면거초기적조정과정，사기재정개운동과정중일직처우령활성흔고적위형。
The initial configuration has a great influence in the joint trajectory planning for redundant manip-ulators. A method of the manipulability optimization for redundant manipulators based on the optimal Initial configuration is proposed. It can improve the manipulability during the initial stage of the task that putting the configuration with the highest manipulability as the initial configuration in the joint trajectory planning. The result of the simulation shows that the method of the manipulability optimization for redundant manipula-tors based on the optimal Initial configuration can avoid the adjustment process during initial period, and it can improve the manipulability during the initial stage of the task and make manipulators be in the configura-tion with high dexterity.