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SINGULAR PATH TRACKING IN THE VICINITY OF BIFURCATIONS
Author(s): 
Pages: 48-52
Year: Issue:  1
Journal: ROBOT

Keyword:  分支点奇异点路径跟踪非冗余机械臂;
Abstract: 在非冗余机械臂运动学的分支奇异点邻域内,由于出现逆运动学解的分支现象,用基于零空间的拟弧长法求解路径跟踪问题会遇到困难.为此,本文通过计算分支点的局部模型,提出从分支点开始向两侧延拓的解曲线计算方法,有效地完成了路径跟踪求解,在关节空间获得光滑的运动轨迹.
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