VELOCITY CALCULATION AND ANALYSIS OF MANIPULATOR MOTION BASED ON THE DIFFERENTIAL APPROACH
DOI:
https://doi.org/10.5281/zenodo.21856809Ключевые слова:
differensial kinematika, Jacobian matritsasi, manipulyator tezligi, resolved-rate boshqaruvi, Moore–Penrose psevdoinversiyasi, damped least-squares usuli, singulyarlik tahlili.Аннотация
Manipulyator bo‘g‘inlari tezliklarini hisoblashda differensial kinematik yondashuvning qo‘llanilishi tahlil
qilinadi. Jacobian matritsasi asosida ishchi organning fazoviy tezligi bilan bo‘g‘inlar tezliklari o‘rtasidagi lokal bog‘liqlik
aniqlanadi. Resolved-rate velocity modeli shakllantirilib, teskari akslantirishning uchta amaliy usuli — Jacobian matritsasini
bevosita inversiyalash, Moore–Penrose psevdoinversiyasi hamda damped least-squares regulyarlashtirish usuli
— qiyosiy tahlil qilinadi. Ikki bo‘g‘inli tekislik manipulyatori misolida manipulyator konfiguratsiyasiga qarab bo‘g‘inlar tezliklari
talabining o‘zgarishi hamda singulyar holatlar yaqinida regulyarlashtirilgan yechimning ustunliklari ko‘rsatib beriladi.
Natijalar differensial yondashuv trajektoriyani bajarish jarayonida singulyarlik ko‘rsatkichlari, manipulabellik va bo‘g‘inlar
tezligi cheklovlari doimiy nazorat qilingan sharoitda real vaqt rejimidagi manipulyator boshqaruvi uchun samarali yechim
ekanligini tasdiqlaydi.
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