7自由度机器人的图谱问题

本文在分析、归纳、综合的基础上作出了7自由度机械臂的图谱.包括位置空间、奇异空间、回避障碍和回避奇异等问题.给出了一种普遍适用的方法.并介绍了该方法的使用,对7自由度机器人的结构设计和选型有一定的参考价值.

Based on analysis, induction and synthesis, this paper presents an atlas of 7-DOF robot manipulatorsfor problems or workspace, singular space, keeping clear of obstacle and singularity avoidance. A generalmethod is given with its usage described. It may be a favorable reference to the structure design and mech-anism selection of 7-DOF robot manipulators: