| 机器人通过奇点的运动学逆问题的数值解法 |
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| 引用本文： | 陈滨.机器人通过奇点的运动学逆问题的数值解法[J].力学学报,1988(4). |
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| 作者姓名： | 陈滨 |
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| 作者单位： | 北京大学 |
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| 摘 要： | 机器人在完成其规划动作时,常可能要通过其运动链的奇点,这时求解其运动学逆问题的通用算法遇到本质的困难,本文给出了一种算法,它可以成功地克服这个困难。文中还给出了计算实例。
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| 关 键 词： | 机器人 运动学逆问题 奇点 条件数 Newton-Gauss迭代 |
AN ALGORITHM FOR THE INVERSE KINEMATIC PROBLEM OF ROBOT MANIPULATORS IN THE PRESENCE OF SINGULARITIES |
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| Chen Bin.AN ALGORITHM FOR THE INVERSE KINEMATIC PROBLEM OF ROBOT MANIPULATORS IN THE PRESENCE OF SINGULARITIES[J].chinese journal of theoretical and applied mechanics,1988(4). |
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| Authors: | Chen Bin |
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| Abstract: | The general numerical method for the inverse kinematic problem of robot manipulators presented in 1] will meet inherent difficulty when the iterated point gets into a singular configuration of the kinematic chain of robot. This paper offers a nova! algorithm that allows the numerical kinematic inversion of robot manipulators in the presence of singularities. A computational example illustrating the methodology proposed is given. |
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| Keywords: | robot manipulator inverse kinematic problem singular point condition number Newton-Gauss iteration |
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