基于旋量建立机器人雅克比矩阵的改进方法研究

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关键词：旋量理论；速度雅克比矩阵；旋量描述坐标系；平面2R机器人；改进方法中图分类号：TH112;TP242 文献标志码：A 文章编号：1671-5276（2025）06-0207-07

Abstract：TherobotvelocityJacobianmatrix isthemappngmatrixofrobotjointspacevelocitytoCartesianspacevelocityand applicationofscrewtheorytoobtain therobotvelocityJacobianmatrix isacommonlypractice，butduetothatthedescription coordinatesystemisthefixedreferencecordinatesystemoftherobotbytraditionalway，theresultyeidedisthemappingof the jointvelocitytothevelocityfromtheoriginoftherobotsfixedreferencecordinatesystem.Tosolvetheproblem，animproved methodisproposedtoestablishasrewdescriptioncordinatesystematthereferencepointoftherobot'sendefectorcosistent withthefixedreferencecoordinatesystem，andbuildtherobot‘svelocityJacobianmatrixwithinthisdescriptioncordinate system. A series mechanism composed of n rigid bodies in series with rotating pairs taken as an example，screws is described in fixedreferencecoordinatesystemand screwdescriptioncordinatesystemtodemonstratethatdescribingscrewsin screw descriptioncordinatesystemcandirectlyobtainthevelocityJacobianmatrixoftherobotendefectorreferencepointtojoint velocitymapping.Thevelocityofthereferencepointatthendoftheplanar2Rrobotisaalyzedusing traditionalandproved methods.The comparison made verifies the correctness，conciseness，and intuitivenessof the improved method.

Keywords;screw theory；velocity jacobian matrix；screw description cordinate system；2R planar robot；improved methc

0 引言

机器人理论研究的一个重要工作就是建立其速度雅克比矩阵。（剩余6846字）