| 柔性冗余度机器人运动灵活性的研究 |
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| 引用本文： | 边宇枢.柔性冗余度机器人运动灵活性的研究[J].航空学报,2001,22(6):570-572. |
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| 作者姓名： | 边宇枢 |
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| 作者单位： | 北京航空航天大学机械设计及自动化系 |
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| 基金项目： | 国家自然科学基金 ( 5 9885 0 0 1 |
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| 摘 要： | 对改善柔性冗余度机器人的运动灵活性问题进行了研究。首先分析了机器人的关节速度与其运动灵活性之间的关系;然后利用柔性冗余度机器人的二次优化能力,进一步研究了改善柔性冗余度机器人运动灵活性的问题,通过泰勒级数展开的办法把振动的抑制从加速度级等效转化到速度级,从而可以在速度级上同时实现振动的抑制和灵活性的改善,并给出了在抑振的同时改善机器人运动灵活性的方法。最后通过数值仿真验证了该方法的有效性。
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| 关 键 词： | 柔性冗余度机器人 运动灵活性 振动抑制 |
| 文章编号： | 1000-6893(2001)06-0570-03 |
| 修稿时间： | 2000年10月11 |
STUDY ON KINEMATIC DEXTERITY OF FLEXIBLE REDUNDANT MANIPULATORS |
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| BIAN Yu\|shu.STUDY ON KINEMATIC DEXTERITY OF FLEXIBLE REDUNDANT MANIPULATORS[J].Acta Aeronautica et Astronautica Sinica,2001,22(6):570-572. |
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| Authors: | BIAN Yu\|shu |
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| Institution: | Department of Machine Design and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
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| Abstract: | How to improve the kinematic dexterity of flexible redundant manipulators is studied in this paper. Firstly, the relationship between the joint velocity and the kinematic dexterity of a manipulator is analyzed.Then, a method of improving the kinematic dexterity of flexible redundant manipulators is further studied using the second optimization capability of flexible redundant manipulators. Using the Taylor series expansion, vibration suppression can be changed equally from the acceleration level to the velocity level; thus suppressing vibration and improving the kinematic dexterity can be implemented simultaneously. And a method of improving the kinematic dexterity at the time of suppressing vibration is proposed. Finally,with this method, some simulations are carried out, and the results demonstrate its feasibility. |
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| Keywords: | flexible redundant manipulators kinematic dexterity vibration suppression |
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