Manipulability and singularity analysis of multiple robot systems: a geometric approach
Manipulability and singularity analysis of multiple robot systems: a geometric approach
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多机器人系统的可操作性和奇异性分析：几何方法
DOI：
10.1109/robot.1998.677224
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
Jin Wook Kim
中科院分区：
文献类型：
--
作者：
F. Park;Jin Wook Kim
对含有主动关节和被动关节的完整多机器人系统的可操作性进行了微分几何分析。我们的分析以统一的方式处理冗余和非冗余系统，包括冗余驱动的情况。机器人系统和被操纵对象的动态特性也可以通过适当选择黎曼度量来自然地包括在内。我们的几何框架还建议将运动学奇点分为三种基本类型：(I)对应于关节构型空间奇点的那些(构形空间奇点)，(Ii)由选择致动关节引起的那些(致动器奇点)，以及(Iii)末端执行器失去一个或多个可用运动自由度的构型(末端效应器奇点)。所提出的几何分类为运动学奇点提供了一种高级分类，该分类独立于用于描述机器人运动学的局部坐标的选择。
We present a differential geometric analysis of manipulability for holonomic multiple robot systems containing active and passive joints. Our analysis treats both redundant and nonredundant systems, including the case of redundant actuation, in a uniform manner. Dynamic characteristics of the robot system and manipulated object can also be naturally included by an appropriate choice of Riemannian metric. Our geometric framework also suggests a classification of kinematic singularities into three basic types: (i) those corresponding to singular points of the joint configuration space (configuration space singularities), (ii) those induced by the choice of actuated joints (actuator singularities), and (iii) those configurations in which the end-effector loses one or more degrees of freedom of available motion (end-effector singularities). The proposed geometric classification provides a high-level taxonomy for kinematic singularities that is independent of the choice of local coordinates used to describe the robot kinematics.