kinematic singularity meaning in Chinese
运动学奇点
Examples
- Because of the merits of high structural stiffness , small motion inertia , high kinematic precision and so on , the parallel robot has obtained the more and more widespread application ; but the parallel robot has also the unsafe factors like kinematic singularity , link interference , joint restriction and so on . these will induce that the parallel robot mechanism is destroyed
并联机器人由于具有结构刚度大、运动惯性小、输出精度高等优点,近年来获得了越来越广泛的应用;但是并联机器人也存在运动奇异性、连杆干涉、铰链约束等不安全因素,这些会造成并联机器人机构的破坏。 - According to the structures of jacobian matrixes of kinematics , statics and dynamics , the relationships among kinematic singularity , static singularity and dynamic singularity are explored on the parallel manipulators similar with stewart platform . it is found that the three kinds of singularities occur simultaneously
根据运动学、静力学和动力学的三种jacobian变换矩阵结构，研究了类stewart平台结构的并联机器人运动奇异性、静力奇异性和动力奇异性三者之间的关系，得出了三种奇异性同时发生的结论。 - In this paper , damped least - square method utilized to overcome kinematic singularity of robotic manipulators was improved , which achieved more accurate tracking compared to the traditional method . singular value decomposition ( svd ) , to which was attached great importance in singularity - robust inverse kinematics and kinematic control of redundant manipulators , was investigated . also , an overwhelmingly utilized algorithm of svd was improved and some possible problems encountered in joint failure issues and redundant issues when using this algorithm was deeply discussed
本文改进了解决机器人运动学奇异的阻尼最小二乘法,同传统的阻尼最小二乘法相比具有更高的跟踪精度;研究了在机器人奇异鲁棒性逆运动学、机器人冗余运动控制中占有重要地位的矩阵奇异值分解,对一种应用广泛的奇异值分解算法做了改进,并对其在关节卡死和冗余控制中可能遇到的问题做了较为深入的讨论,系统地描述了一阶运动学实现方案,为轨迹规划打下了坚实的基础。