平移工作空间中并联机器人关节速度极值的有效计算

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.680605

J. Merlet

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引用次数: 7

摘要

本文提出了一种计算并联机械臂最大和最小关节速度的有效算法，在保证误差的情况下，使末端执行器在给定体积中的位置无论如何都能以给定的笛卡尔/角速度进行运动，假设其方向在体积上保持恒定。与传统的离散化方法相比，该算法的速度更快，安全性更高。

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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Efficient computation of the extremum of the articular velocities of a parallel manipulator in a translation workspace

This paper presents an efficient algorithm for computing, with a guaranteed error, the maximal and minimal articular velocities of a parallel manipulator so that whatever is the location of the end-effector in a given volume it may perform a motion at a given Cartesian/angular velocity, under the assumption that its orientation is kept constant over the volume. This algorithm is much more faster and safe than the classical discretisation method.

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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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