基于修正雅可比法的冗余机械手奇异运动

Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02. Pub Date : 2002-11-09 DOI:10.1109/ROMOCO.2002.1177128

I. Dulęba, J. Sasiadek

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引用次数: 3

摘要

本文提出了一种允许冗余机械手横向通过corank 1奇点的方法。该方法通过修改机械臂正运动学的雅可比矩阵来获取其在奇异点处的全秩。该方法计算成本低，概念简单。它非常适合于实时控制和实际实现。以三连杆平面摆为例说明了该方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Redundant manipulators motion through singularities based on modified Jacobian method

This paper presents a method which allows one to pass transversally through singularities of corank 1 for redundant manipulators. The method modifies a Jacobian matrix of the manipulator's forward kinematics to retrieve its full rank at singularities. The method is computationally inexpensive and conceptually simple. It is well suited for real time control and practical implementations. The method is illustrated with the example of a 3-link planar pendulum.

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Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.

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