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首页> 外文期刊>Robotics and Computer-Integrated Manufacturing >The workspace mapping with deficient-DOF space for the PUMA 560 robot and its exoskeleton arm by using orthogonal experiment design method
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The workspace mapping with deficient-DOF space for the PUMA 560 robot and its exoskeleton arm by using orthogonal experiment design method

机译：正交实验设计方法对PUMA 560机器人及其外骨骼手臂的DOF空间不足的工作空间映射

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摘要

In this paper, a particular emphasis is put on the workspace mapping with deficient-DOF space between the PUMA 560 robot and its exoskeleton-arm master-type manipulator, which is proved to be the key step for different structure-based master-slave manipulation. The deficient-DOF space of PUMA 560, made up with the singularity and joint limitation, affects the maneuverability and stability of the master-slave manipulation system. In this work, the deficient-DOF space in the mapped workspace with master-slave control is investigated as a main factor of the workspace mapping. Meanwhile, the orthogonal experiment design method is introduced and two rounds of orthogonal experiments are carried out for this mapping problem, which is simultaneously characterized by many other variables At last the simulation and experiment results demonstrate that the scheme of the mapping is feasible and the orthogonal experiment design method is effective. It is a novel application and exploration of the orthogonal experiment design method in the mechanical or robot optimal design.
机译：本文特别强调了PUMA 560机器人与其外骨骼臂主型操纵器之间具有不足DOF空间的工作空间映射，这被证明是不同基于结构的主从操纵的关键步骤。 。 PUMA 560的自由度不足空间由奇异性和关节限制所组成，影响了主从操纵系统的可操纵性和稳定性。在这项工作中，具有主从控制的映射工作空间中的缺陷自由度空间被研究为工作空间映射的主要因素。同时，介绍了正交实验设计方法，针对该映射问题进行了两轮正交实验，并同时进行了许多其他变量的表征。最后的仿真和实验结果表明，该映射方案是可行的，并且正交实验设计方法是有效的。这是正交试验设计方法在机械或机器人优化设计中的一种新颖的应用和探索。

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