Advances in Robot Kinematics 2018
Advances in Robot Kinematics 2018
复制标题
2018 年机器人运动学进展
DOI：
10.1007/978-3-319-93188-3_22
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Baron N
中科院分区：
文献类型：
--
作者：
Baron N
传统上，避免闭环机器人机构奇异的方法是基于雅可比行列式或条件数的值。这些标准技术的主要缺点是机器人配置与奇点的接近度缺乏几何、物理解释，因此意味着不确定机器人姿势的变化实际上如何使机构进一步远离这种有问题的配置。针对运动冗余度平面并联机器人的奇异点避免问题，提出了一种几何方法，克服了雅可比方法的不足。所提出的方法，这是基于瞬时旋转中心的属性，定义了一个数学距离的奇异性，并提供了一个可靠的方式移动机器人进一步从一个奇异的配置，而不改变末端执行器的姿势。该方法被证明是一个例子机器人机构和雅可比矩阵的条件数的倒数来显示其优点。
Methods for avoiding singularities of closed-loop robot mechanisms have been traditionally based on the value of the determinant or the condition number of the Jacobian. A major drawback of these standard techniques is that the closeness of a robot configuration to a singularity lacks geometric, physical interpretation, thus implying that it is uncertain how changes in the robot pose actually move further away the mechanism from such a problematic configuration. This paper presents a geometric approach of singularity avoidance for kinematically redundant planar parallel robots that eliminates the disadvantages of Jacobian-based techniques. The proposed method, which is based on the properties of instantaneous centres of rotation, defines a mathematical distance to a singularity and provides a reliable way of moving the robot further from a singular configuration without changing the pose of the end-effector. The approach is demonstrated on an example robot mechanism and the reciprocal of the condition number of the Jacobian is used to show its advantages.