[1]席文明,吴洪涛,罗翔,等.机器人相对雅可比矩阵解析求解方法研究[J].东南大学学报(自然科学版),2002,32(4):614-619.[doi:10.3969/j.issn.1001-0505.2002.04.017]
 Xi Wenming,Wu Hongtao,Luo Xiang,et al.Study of new analytic solution of robotic relative Jacobian matrix[J].Journal of Southeast University (Natural Science Edition),2002,32(4):614-619.[doi:10.3969/j.issn.1001-0505.2002.04.017]
点击复制

机器人相对雅可比矩阵解析求解方法研究()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
32
期数:
2002年第4期
页码:
614-619
栏目:
自动化
出版日期:
2002-07-20

文章信息/Info

Title:
Study of new analytic solution of robotic relative Jacobian matrix
作者:
席文明1 吴洪涛1 罗翔2 朱剑英1
1 南京航空航天大学机电学院, 南京 210016; 2 东南大学机械工程系, 南京 210096
Author(s):
Xi Wenming1 Wu Hongtao1 Luo Xiang2 Zhu Jianying1
1 College of Mechanical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2 Department of Mechanical Engineering, Southeast University, Nanjing 210096, China
关键词:
冗余度机器人 解析求解 相对雅可比阵 绝对雅可比阵
Keywords:
redundant robot analytic solution relative Jacobian matrix absolute Jacobian matrix
分类号:
TP24
DOI:
10.3969/j.issn.1001-0505.2002.04.017
摘要:
为了简化冗余度机器人雅可比矩阵的求解,本文给出了一种雅可比矩阵解析求解方法.该方法是将基坐标系建立在中间关节上,从而得到机器人的相对雅可比矩阵,使得雅可比矩阵表达简单.利用现有的公式对雅可比矩阵中的元素进行改写,将矢量叉乘变为矢量点乘.通过改写可以将雅可比矩阵中的元素计算用公式解析表达,使得计算过程简单、方便,与微分变换法和矢量叉乘法相比较,该方法概念清晰,计算规范.通过示例验证,该方法是正确的.
Abstract:
A Jacobian matrix analytic solution is presented to simplify the calculation of the Jacobian matrix for redundant robot. The merit of this method is to place the base coordinate system in the middle joint to acquire relative Jacobian matrix and make expression of Jacobian matrix simplified. After the formula of documents are used to rewrite elements of Jacobian matrix, the vector cross product is changed into the vector dot product in Jacobian matrix. By rewriting elements of Jacobian matrix, the all formula are explicitly expressed and calculation process is simple and convenient. Compared with the differential transformation and the vector cross product methods, this method is conceptually clear and mathematically canonical. A calculation example shows this method is practical.

参考文献/References:

[1] 日本机器人学会.机器人技术手册[M].北京:科学出版社,1996.54-61.
[2] 王庭树.机器人运动学及动力学[M].西安:西安电子科技大学出版社,1991.112-117.
[3] 熊有伦.机器人学[M].北京:机械工业出版社,1993.87-94.
  Xiong Youlun.Robot Technology[M].Beijing:Machine Industry Publishing Company,1993.87-94.(in Chinese)
[4] Chevallereau C,Khalil W.Efficient method for calculation of the pseudo inverse kinematic problem[A].In:Proc IEEE Int Conf on Robotics and Automation[C].Washington D C:IEEE Computer Society Press,1987.1842-1848.
[5] Dubey R,Euler J A,Babcock S M.An efficient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist[A].In:Proc IEEE Int Robot and Automation[C].Washington D C:IEEE Computer Society Press,1988.28-36.
[6] Richard M,Li Zexiang,Shankar S. A mathematical introduction to robotic manipulation[M].Florida:CRC Press,1994.76-80.
[7] 金仁成,赵继,杨红梅,等.多关节机器人的运动灵活性[J].吉林工业大学学报,1998,28(1):12-16.
  Jin Rencheng,Zhao Ji,Yang Hongmei,et al.Research on flexibility of articulated robot[J].Journal of Jili University of Technology,1998,28(1):12-16.(in Chinese)
[8] 闫成新,樊炳辉,范波涛.机器人雅可比阵的新式求解方法[J].机器人,1999,21(7):701-705.
  Yan Chengxin,Fan Binghui,Fan Baotao.A new method computing the Jacobian for robot manipulators[J].Robot,1999,21(7):701-705.(in Chinese)
[9] 陈启军,王月娟,李自育,等.避免关节限制的机器人冗余分解方法[J].同济大学学报,2000,28(1):41-45.
  Chen Qijun,Wang Yuejuan,Li Ziyu,et al.Comparative research of kinematic redundancy resolution strategy of robotic manipulators for avoiding joint limits[J]. Journal of Tongji University,2000,28(1):41-45.(in Chinese)

相似文献/References:

[1]罗翔,颜景平.一种新颖的冗余度机器人及其视觉伺服方案[J].东南大学学报(自然科学版),2001,31(5):28.[doi:10.3969/j.issn.1001-0505.2001.05.007]
 Luo Xiang,Yan Jingping.A New Type of Redundant Robot and the Corresponding Visual Servoing Scheme[J].Journal of Southeast University (Natural Science Edition),2001,31(4):28.[doi:10.3969/j.issn.1001-0505.2001.05.007]
[2]罗翔,田梦倩,颜景平.基于构形的冗余度机器人自运动规划方法[J].东南大学学报(自然科学版),2003,33(6):737.[doi:10.3969/j.issn.1001-0505.2003.06.014]
 Luo Xiang,Tian Mengqian,Yan Jingping.Geometric structure based self-motion planning for redundant robots[J].Journal of Southeast University (Natural Science Edition),2003,33(4):737.[doi:10.3969/j.issn.1001-0505.2003.06.014]

备注/Memo

备注/Memo:
基金项目: 国家自然科学基金重大资助项目(59990470).
作者简介: 席文明(1965—),男,博士后; 朱剑英(联系人),男,教授,博士生导师.
更新日期/Last Update: 2002-07-20