论文标题
部分可观测时空混沌系统的无模型预测
A review of cuspidal serial and parallel manipulators
论文作者
论文摘要
Cuspidal机器人可以从一个反向或直接运动溶液转移到另一种溶液，而无需通过奇异性。这些机器人仍然未知，因为几乎所有工业机器人都没有此功能。但是，实际上，工业机器人是例外。最近出现在工业市场上的一些机器人可以证明是尖锐的，但令人惊讶的是，几乎没人知道，机器人用户遇到了使用这些机器人计划轨迹的困难。本文提出了关于尖锐机器人的基本和应用方面的审查。它解决了这些机器人在轨迹设计和规划中提出的重要问题。所有Cuspidal机器人的识别仍然是一个悬而未决的问题。本文详细介绍了带有三个接头的串行机器人的情况，但它还解决了具有更复杂架构的机器人，例如6个固有的连接机器人和平行机器人。我们希望本文将有助于传播有关尖锐机器人的更广泛知识。
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. However, in fact, industrial robots are the exceptions. Some robots appeared recently in the industrial market can be shown to be cuspidal but, surprisingly, almost nobody knows it and robot users meet difficulties in planning trajectories with these robots. This paper proposes a review on the fundamental and application aspects of cuspidal robots. It addresses the important issues raised by these robots for the design and planning of trajectories. The identification of all cuspidal robots is still an open issue. This paper recalls in details the case of serial robots with three joints but it also addresses robots with more complex architectures such as 6-revolute-jointed robot and parallel robots. We hope that this paper will help disseminate more widely knowledge on cuspidal robots.
