针对目标位置对应的冗余机械手形状不确定的情况,在可操作性基础之上,以整体可操作性指标S为第二指标来确定冗余机械手的形状,并提出了寻优S的方法.结合粒子群算法,取以相关的关节点为圆心、关节长度为半径的圆周上的点坐标为算法粒子进行迭代.仿真结果验证了所提出方法的有效性和S作为第二指标的优越性.%Contrary to the uncertain configuration of redundant manipulator corresponding to the target position, this paper presented whole manipulability index SM as the second index to determine the configuration of redundant manipulator on manipulability and then gave a way of optimizing SM. Combine with PSO, selected points on the circumstance, whose center was the related joint coordinate and the radius was the length of the link, as the particles of algorithm to iterate. The results of simulation confirm the effectiveness of the proposed method and the superiority of SM as the second index.
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