Differential Topology of the Inverse Kinematic Problem for Redundant Robot Manipulators
Differential Topology of the Inverse Kinematic Problem for Redundant Robot Manipulators
复制标题
冗余机器人机械臂逆运动学问题的微分拓扑
DOI：
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发表时间：
1991
期刊：
影响因子：
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通讯作者：
K. Tchoń
中科院分区：
文献类型：
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作者：
K. Tchoń
本文提出了一个奇点理论的程序，它在机器人学中有系统的应用。提出了完整的规范形表，并将其作为机器人运动学的候选模型。论证了候选范式对机械手运动学的适用性。奇异性和分歧图的规范形式的检查和后果推导出的逆运动学问题的冗余运动学奇异。
In this paper a program of singularity theory is pro claimed to be of systematic use in robotics. Complete lists of normal forms are proposed and are regarded as candi date models of kinematics of robot manipulators. Argu ments for the applicability of candidate normal forms to manipulator kinematics are provided. Singularities and bifurcation diagrams of the normal forms are examined and consequences derived for the inverse kinematic prob lem in redundant kinematics with singularities.