| 分解法求解EMR系统机器人的服务角 |
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| 引用本文： | 黄献龙,梁斌,等.分解法求解EMR系统机器人的服务角[J].中国空间科学技术,2001,21(2):63-67. |
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| 作者姓名： | 黄献龙 梁斌 |
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| 作者单位： | 北京控制工程研究所!北京100080 |
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| 基金项目： | 国家 8 63计划航天领域资助项目 |
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| 摘 要： | 在许多应用场合需要知识机器人在可达工作空间范围内作业的适应能力，或者说灵活性，人们通常以服务角、灵活度、等极值仰角线等作为性能指标。文章首先分析了EMR系统机器人的结构特点和自由度，确定以服务角来衡量系统的灵活性；然后，提出了几种求解服务角的方法，并详细讨论了如何采用分解法求解服务角。该方法计算量少，适于在线控制。
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| 关 键 词： | 服务角 机器人 位置控制 分解法 EMR系统 |
Solving the Service Angle of EMR System Robot With a Decomposing Method |
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| Huang Xianlong,Liang Bin,Chen Jianxin,Wu Hongxin.Solving the Service Angle of EMR System Robot With a Decomposing Method[J].Chinese Space Science and Technology,2001,21(2):63-67. |
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| Authors: | Huang Xianlong Liang Bin Chen Jianxin Wu Hongxin |
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| Abstract: | It is necessary to know the adaptive ability of robot operating or dexterity within its reachable workspace in the applying field.Service angle,dexterity,and line with an equivalent extent pitch are put forward as performance index.At first,the structure feature and freedom of EMR system robot are analyzed,and the service angle is determined as performance index of system dexterity.Then,several methods of solving robotics service angle are presented,and the decomposing method is discussed in detail.This method can be adapted to control online with little computer time. |
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| Keywords: | Robot Service angle Position control Analyzing |
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