| 基于牛顿迭代法消除机器人奇异点的研究 |
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| 引用本文： | 周克媛.基于牛顿迭代法消除机器人奇异点的研究[J].青岛职业技术学院学报,2009,22(2):65-66. |
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| 作者姓名： | 周克媛 |
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| 作者单位： | 青岛职业技术学院海尔学院,山东,青岛,266555 |
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| 摘 要： | 机器人奇异点问题一直是机器人研究的一个热点问题.本文求解了一般6R机器人的Jacobin矩阵,并采用牛顿迭代法消除了运动学逆解中的奇异点,使机器人轨迹规划中尽可能地减少惯性运动,使轨迹连续.
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| 关 键 词： | 机器人奇异点 牛顿迭代法 惯性运动 |
The Research of Eliminating the Robot's Singular Point Based on Newton's Method of Iteration |
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| ZHOU Ke-yuan.The Research of Eliminating the Robot's Singular Point Based on Newton's Method of Iteration[J].Journal of Qingdao Vocational and Technical College,2009,22(2):65-66. |
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| Authors: | ZHOU Ke-yuan |
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| Institution: | Haier School of Qingdao Technical College;Qingdao;Shangdong 266555 |
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| Abstract: | The problem of robot's singular point is always a focus in robot study.This article solves the Jacobin matrix of the 6R robot,using Newton's method of iteration to eliminate the kinematics' singular point,making the robot's track reduce inertial motion possibly and making the mark continuously. |
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| Keywords: | the robot's singular point Newton's method of iteration inertial motion |
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