遥控作业移动机器人环境建模方法研究

本文介绍了用于遥控机器人作业虚拟环境生成的建模方法．重点研究了基于人机交互的双目立体视觉和多视点建模方法，以克服视觉自动建模方法计算复杂、鲁棒性差的缺点．给出了环境建模的实验系统和实验结果。

In this paper, the instantaneous motions of a industrial robot at special configurations are analyzed, and the characteristics of the constrained motions, the direction of the permitted motion and the sub  spaces of the existed rotational axes of the robot STANFORD at special configurations are discussed in detail. Furthermore, 6 independent types at special configurations are obtained when the pitch of the reciprocal screw is zero. Finally, the general expressions of the reciprocal and existed motion screws in the reference coordinate system are given under all circumstances at special configurations and the atlas of the spatial motion is illustrated.