分析机器人的奇异空间对工业机器人完成指定任务(如码垛、喷漆、焊接、抛光等工作)具有前瞻性指导意义.根据D-H参数法建立模型,利用数值算法求其在多姿态下的雅克比矩阵条件数,将此作为评判指标来衡量机器人在空间各个节点位置处的奇异程度,并用不同颜色将其可视化.可视化结果表明所划分的奇异区域满足理论中的两大奇异点范畴,从仿真结果看提出的算法切实有效.%The analysis of the singular space of the robots is of prospective guiding importance for industrial robots to complete such specified tasks as stacking,painting,welding and polishing.A model is constructed with the D-H parameter method,and a numerical algorithm is used to obtain condition number of Jacobian under multi-pose,which is used as an evaluation indicator to measure the degree of the singularity of each node in the space,with different colors used to visualize the workspace.The results of visualization shows that the region of the proposed singularity match with the two kinds of singular points in previous theory,and the proposed algorithm is effective seen from the simulation results.
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