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 一种协作机器人工作空间灵活度的求解方法 Alternative Title A 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 Department 工艺装备与智能机器人研究室 Source Publication 机器人 ISSN 1002-0446 2019 Volume 41Issue:3Pages:298-306 Indexed By EI ; CSCD EI Accession number 20193607396019 CSCD ID CSCD:6505292 Contribution Rank 1 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 Abstract 传统机器人工作空间灵活度主要采用逆运动学方法(IK)进行求解,而偏置的存在导致协作机器人的逆运动学求解困难,无法求解其工作空间灵活度.为此,提出了一种不需要进行逆运动学求解的改进方法.首先,对机器人偏置进行定义,并分析IK方法的不足.然后,借助服务球的概念得到满足服务点条件的几何约束,通过该几何约束得到求解灵活度的误差模型,并提出影响灵活度求解的误差参数E及工作空间灵活度指标λ.接着,分析改进方法中的参数n、n_0、n_1对E、λ的影响,并确定该参数的取值.最后,对比改进方法与IK方法可知,在保证求解准确性的前提下,改进方法比IK方法的求解时间短、计算效率高.通过求解具有偏置的协作机器人工作空间灵活度,证明了改进方法具有适应性强的特点. Other Abstract The 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. Language 中文 Citation statistics Document Type 期刊论文 Identifier http://ir.sia.cn/handle/173321/23884 Collection 工艺装备与智能机器人研究室 Corresponding Author 王洪光 Affiliation 1.中国科学院沈阳自动化研究所2.中国科学院机器人与智能制造创新研究院3.中国科学院大学 Recommended CitationGB/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(3):298-306. 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(3),298-306. 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 41.3(2019):298-306.