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Alternative TitleA Solving Method for theWorkspace Dexterity of Collaborative Robot
田勇1,2,3; 王洪光1,2; 潘新安1,2; 胡明伟1,2,3
Source Publication机器人
Contribution Rank1
Funding Organization国家自然科学基金(51405482) ; 中国科学院重点部署项目(KGZD-EW-608-1) ; 机器人学国家重点实验室自主课题(2014-Z09)
Keyword工作空间灵活度 协作机器人 偏置 误差参数
Other AbstractThe workspace dexterity of traditional robot is mainly solved by inverse kinematics (IK) method, which can not solve the workspace dexterity of collaborative robot because of the offset effect on the solution of inverse kinematics. So, an improved solving method without using the inverse kinematics is proposed. Firstly, the robot offset is defined and the deficiencies of the IK method are analyzed. Then, the geometric constraint satisfying the service point conditions is obtained with the service sphere, and the error model of dexterity is achieved by using the geometric constraint. Besides, the workspace dexterity index λ and the error parameter E which affect the dexterity solution are proposed. Then, the effects of parameters n, n0 and n1 on E and λ are analyzed in the improved method, and the values of the parameters are determined. Finally, through the comparison between the improved method and the IK method, it can be seen that the solution time of the improved method is shorter than the IK method and the computational efficiency is higher while guaranteeing the solution accuracy. The solving of the workspace dexterity of the collaborative robot with offset proves the strong adaptability of the improved method.
Document Type期刊论文
Corresponding Author王洪光
Recommended Citation
GB/T 7714
田勇,王洪光,潘新安,等. 一种协作机器人工作空间灵活度的求解方法[J]. 机器人,2019,41(2):1-9.
APA 田勇,王洪光,潘新安,&胡明伟.(2019).一种协作机器人工作空间灵活度的求解方法.机器人,41(2),1-9.
MLA 田勇,et al."一种协作机器人工作空间灵活度的求解方法".机器人 41.2(2019):1-9.
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