[1]林瑞麟.机械手奇异分析和判断[J].华侨大学学报(自然科学版),1998,19(2):174-179.[doi:10.11830/ISSN.1000-5013.1998.02.0174]
　Lin Ruilin.Analysis and Judgement of the Singularities of Manipulators[J].Journal of Huaqiao University(Natural Science),1998,19(2):174-179.[doi:10.11830/ISSN.1000-5013.1998.02.0174]
点击复制

机械手奇异分析和判断()
分享到：

《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第19卷
期数:
1998年第2期
页码:
174-179
栏目:
出版日期:
1998-04-20

文章信息/Info

Title:
Analysis and Judgement of the Singularities of Manipulators
作者:
林瑞麟
华侨大学机械工程系
Author(s):
Lin Ruilin
关键词:
机械手;  奇异判断;  Jacobian矩阵
Keywords:
manipulator;  singularity;  judgement;  Jacobian matrix
分类号:
TP241.2
DOI:
10.11830/ISSN.1000-5013.1998.02.0174
摘要:
采用离散方法将机械手系统分离成几个子系.通过对子系奇异的研究,分析整体系统的奇异问题,免去了求机械手系统雅可比矩阵的麻烦,因而简化了计算.它特别适合于球形手腕机械手的奇异判断.
Abstract:
A manipulator system is separated into several subsystems. The singularity of entire system is analyzed by studying the singularities of its subsytems. Thus the trouble of solving Jacobian matrix can be exempted and the computation simplified. The method

相似文献/References:

[1]蒋少茵.机械手模型与设计[J].华侨大学学报(自然科学版),1998,19(4):407.[doi:10.11830/ISSN.1000-5013.1998.04.0407]
[2]蒋少茵.机械手模型控制及轨迹定位精度测试[J].华侨大学学报(自然科学版),1999,20(4):396.[doi:10.11830/ISSN.1000-5013.1999.04.0396]
　Jiang Shaoyin.Control of a Manipulator Model and Test of Positioning Accuracy of Its Trajectory[J].Journal of Huaqiao University(Natural Science),1999,20(2):396.[doi:10.11830/ISSN.1000-5013.1999.04.0396]
[3]顾立志,牛国玲,霍艳忠.城市下水道清淤移动式机械手系统设计[J].华侨大学学报(自然科学版),2009,30(1):12.[doi:10.11830/ISSN.1000-5013.2009.01.0012]
　GU Li-zhi,NIU Guo-ling,HUO Yan-zhong.Design of a Mobile Manipulator System for Sullage Disposal in Urban Areas[J].Journal of Huaqiao University(Natural Science),2009,30(2):12.[doi:10.11830/ISSN.1000-5013.2009.01.0012]
[4]张安民,赵武.双自由度串联机械手的输入转矩优化[J].华侨大学学报(自然科学版),2016,37(1):12.[doi:10.11830/ISSN.1000-5013.2016.01.0012]
　ZHANG Anmin,ZHAO Wu.Input Torque Optimization of a Double Degree of Freedom Serial Manipulator[J].Journal of Huaqiao University(Natural Science),2016,37(2):12.[doi:10.11830/ISSN.1000-5013.2016.01.0012]

备注/Memo

备注/Memo:
福建省自然科学基金
更新日期/Last Update: 2014-03-22