CAJ | 학술논문

以反恐排爆机器人5自由度机械臂为研究对象，利用矢量积法求解机械臂的雅克比矩阵，在此基础上，对其进行奇异位形及工作空间分析；结合Matlab进行计算和仿真，最后求得对应的关节角度。分析排爆机器人机械臂的奇异性及工作空间，为轨迹规划、动力学分析提供了重要的前提条件。结果表明，机械臂结构设计合理，为机械臂的操控提供理论依据。
이반공배폭궤기인5자유도궤계비위연구대상，이용시량적법구해궤계비적아극비구진，재차기출상，대기진행기이위형급공작공간분석；결합Matlab진행계산화방진，최후구득대응적관절각도。분석배폭궤기인궤계비적기이성급공작공간，위궤적규화、동역학분석제공료중요적전제조건。결과표명，궤계비결구설계합리，위궤계비적조공제공이론의거。
A 5-DOF manipulator of EOD robot is studied, the Matlab structure model is established and the manipulator Ja-cobian matrix is solved by using vector product method. On this basis, singular configuration is analyzed. Finally the corresponding joint angle is obtained through calculation and simulation in Matlab. Analyzing the singularity of EOD manipulator provides an important theoretical basis for path planning and dynamics analysis. The results can explain the rationality of the structure design of the manipulator, and provide a theoretical basis for the control of the manipulator.