<正> When robot is at singular configuration, the limited hand velocity would require some jointswith infeasible speeds so as to lead unsafety of the system. A method of solving the approximate ve-locity of joint near singular configuration point by adding damped vector is proposed and a modifiedalgorithm is provided. With the analysis of J-1, the singular configulations of 6R robot are divided intostructure boundary singularity, boundary singularity, inner singularity and wrist singularity. The con-ditions of singularities of the robot have been ascertained. The computer simulations of the singulari-ties of the robot are developed, which have many advantages over previous description methods of thesingular configurations of robot. With the help of boundary singularity analysis, a application in weld-ing trajectory planning checking of the robot has been carried out and the simulation result provedvisualized and useful.
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机译:Study Findings on Robotics Detailed by a Researcher at Jilin University (Joint Stiffness Identification Based on Robot Configuration Optimization Away from Singularities)
机译:Recent Findings from Shandong Jianzhu University Highlight Research in Robotics (Redundant Posture Optimization for 6R Robotic Milling Based on Piecewise-Global-Optimization-Strategy Considering Stiffness, Singularity and Joint-Limit)
机译:Mathematical modeling, control, computer simulation and laboratory experiments of a spatial servopneumatic parallel robot - Part I: Mathematical models, controllers, and computer Simulations