基于冗余度解析的冗余机器人操作手子任务性能

IEEE J. Robotics Autom. Pub Date : 1988-06-01 DOI:10.1109/56.795

I. Walker, S. Marcus

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引用次数: 72

摘要

研究了冗余度机械臂关节空间轨迹的选择问题。可以通过多种方式选择允许手臂与末端执行器运动同时执行次要任务的解决方案。本文介绍并分析了一种利用联合变量的标量函数条件来实现这一目标的算法。考虑了包含构型空间约束的方案所固有的问题。>

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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Subtask performance by redundancy resolution for redundant robot manipulators

The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and analyzed. Problems inherent in schemes involving constraints in configuration space are considered. >

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IEEE J. Robotics Autom.

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