| 杜滨,赵京.基于倍四元数的机器人运动灵活性评价[J].高技术通讯(中文),2012,22(5):516~522 |
| 基于倍四元数的机器人运动灵活性评价 |
| Kinematic dexterity measures for robot manipulators based on double quaternion |
| 修订日期：2011-03-29 |
| DOI： |
| 中文关键词: 机器人， 运动灵活性， 倍四元数， 条件数， 可操作度， 混合关节 |
| 英文关键词: robot, kinematic dexterity, double quaternion, condition number, manipulability, mixed joints |
| 基金项目:国家自然科学基金（50775002）资助项目 |
| 作者 | 单位 | | 杜滨 | 北京工业大学机械工程与应用电子技术学院 | | 赵京 | 北京工业大学机械工程与应用电子技术学院 |
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| 摘要点击次数: 2629 |
| 全文下载次数: 2035 |
| 中文摘要: |
| 针对机器人的雅可比矩阵量纲不统一而不能对其进行灵活性评价这一问题，提出了一种新的雅可比矩阵量纲统一及评价方法。首先基于倍四元数，将三维空间的旋转和平移统一为四维空间的纯转动，推导了基于倍四元数的连杆坐标系变换通式。然后利用该方法对机器人进行了运动学建模，得到了具有统一量纲的雅可比矩阵，并根据该矩阵定义了新的评价指标。该方法解决了混合关节机器人建模时所产生的雅可比矩阵量纲不统一的问题。最后，对空间3R机器人和空间RPR机器人的灵活性进行了数值仿真分析，结果表明该评价方法不仅适用于相同类型关节的机器人，同时适 |
| 英文摘要: |
| In view of the fact that the dexterity evaluation on robots cannot be made due to the dimensional inhomogeneity of Jacobian, a new approach to formulation of the dimensional homogeneous Jacobian and kinematic dexterity measure for the robot with mixed joints is proposed. According to the double quaternion, the rotation and translation in three dimensional Euclidean spaces are converted to the pure rotation in four dimensional Euclidean spaces. The universal transformational expression of the link coordinate system is derived based on double quaternion. Then the kinematics model of robot is developed and the non dimensional Jacobian is obtained by this approach. Furthermore, a new performance index is proposed. The new approach can solve the dimensional inhomogeneity of Jacobian which occurs for robots with mixed joints. Finally, the kinematic dexterity of spatial 3R and the spatial RPR robot is analyzed by numerical simulation. The results show that this approach is not only applicable to the robot with same joints, but also to the robot with mixed joints. |
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