摘要
通过对6R机器人奇异形位形成条件的分析,把机器人奇异形位分为结构边界奇异、边界奇异、内部奇异和腕部奇异四种情况。在对边界奇异进行了详细分析的基础上,对每一情况给出了计算机仿真结果,获得了直观的边界奇异表达。
With the analyses of singular configuration condition of 6R robot, the singularities of 6R robot are divided into structure boundary singularity, boundary singularity, inner singularity and wrist singularity. Based on study of structure boundary singularity and inner singularity in detail, the computer graphic simulations are developed.
出处
《机械设计与制造》
2003年第5期42-44,共3页
Machinery Design & Manufacture
关键词
6自由度
机器人
奇异形位
仿真
边界奇异
Robot
Singular configuration
Coordinate control
Computer simulation
