双臂机器人机构协调运动方向可操作度研究

Directional manipulability measures of dual arm robot coordinated motion

摘要: 在机器人机构速度可操作椭球的基础上,定义了双臂机器人机构速度和角速度方向可操作度,以方向可操作度为目标函数,给出了最佳传速方向和最佳操作位形的优化方法.

Abstract: Based on the velocity manipulability ellipsoids, the directional manipulability measure of linear velocity and rotation velocity are defined.By using the directional manipulability measure as the objective function, the optimal method of optimum direction for velocity transmission and optimum directionoriented manipulability are given.