| 引用本文: | 沈辉,吴学忠,李圣怡,等.并联机构的奇异位形分析及冗余驱动控制方法.[J].国防科技大学学报,2002,24(2):91-94.[点击复制] |
| SHEN Hui,WU Xuezhong,LI Shengyi,et al.Analysis of Singularity and Redundantly Control of Parallel Manipulators[J].Journal of National University of Defense Technology,2002,24(2):91-94[点击复制] |
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| 并联机构的奇异位形分析及冗余驱动控制方法 |
| 沈辉1, 吴学忠1, 李圣怡1, 李泽湘2 |
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(1.国防科技大学 机电工程与自动化学院,湖南 长沙 410073;2.香港科技大学电气与电子工程系，香港)
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| 摘要: |
| 运用微分几何的方法分析了存在于并联机构中的各种奇异位形。采用冗余驱动方法解决并联机构奇异位形的控制问题。设计并实现了平面二自由度并联实验装置，并进行了冗余驱动控制实验。 |
| 关键词: 并联机构 奇异位形 冗余驱动 |
| DOI： |
| 投稿日期：2001-11-19 |
| 基金项目:国家自然科学基金-香港青年学者合作研究基金资助项目(50029501) |
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| Analysis of Singularity and Redundantly Control of Parallel Manipulators |
| SHEN Hui1, WU Xuezhong1, LI Shengyi1, LI Zexiang2 |
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(1.College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China;2.Department of EEE,Hong Kong Univ. of Science and Technology,Hong Kong)
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| Abstract: |
| This paper analyses the various singular configurations of parallel manipulators using differential geometry. In order to perform an effect control of parallel manipulators at singularity, an over-control method is discussed. Finally this paper tests the over-actuated PD strategy on the two degree-of-freedom planar parallel robot and simulations verify the method proposed. |
| Keywords: parallel manipulator singular configuration over-control |
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