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| Research on reachable capability of robot manipulators |
| ZHU Xing-Long, ZHOU Ji-Ping |
| College of Mechanical Engineering, Yangzhou University, Yangzhou 225009, China |
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Abstract To evaluate the capability of robot manipulator's tracing targets, the reachable function is derived and the definition of reachable capability of manipulators is provided. Furthermore, research on the influence of the number of freedom degree, rotary angel constraint on joints and length of links on reachable capability is conducted and then the author establishes the requirements for manipulator to reach targets. Finally, the significance of manipulator's reachable capability is addressed by taking fixed points, fixed position and pose of objective, and continuous trail objective as examples. These outcomes provide great theoretical reference for manipulator design.
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Published: 28 April 2005
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机器人操作臂可达能力研究
为了评价机器人操作臂跟踪目标的能力，导出了操作臂可达函数的表达式，定义了操作臂的可达能力，研究了操作臂自由度数、关节转角约束、关节连杆长度对可达能力的影响，建立了操作臂可达目标的存在条件。最后，以过定点、固定位姿和连续轨迹目标为例，说明了操作臂可达能力对操作的重要性，也为操作臂的设计提供了理论依据。
关键词：
可达函数,
可达能力,
存在条件,
机器人
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