低自由度任务下串联机器人的旋量分解
The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks
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中文总结 AI 辅助
研究低自由度任务下串联机器人的旋量分解，核心方法是用几何定义的旋量投影仪分离旋量，贡献为在操作空间区分相关与无关运动，实现紧凑逆运动学方案处理冗余。
中文摘要 AI 辅助
本文介绍了一种用于执行低自由度任务的串联机械手的旋量分解框架。该方法不依赖于雅可比零空间投影，而是使用几何定义的旋量投影仪将末端执行器的旋量分离为任务和冗余分量。这种公式在操作空间中提供了与任务相关和与任务无关运动之间的直接和直观区别，实现了一种紧凑的逆运动学方案，自然地处理机械手和任务冗余。
英文摘要
This paper introduces a twist decomposition framework for serial manipulators performing lower mobility tasks. Rather than relying on Jacobian null-space projections, the method separates the end-effector twist into task and redundant components using geometrically defined twist projectors. This formulation provides a direct and intuitive distinction between task-relevant and task-irrelevant motions in operational space, enabling a compact inverse kinematics scheme that naturally handles both manipulator and task redundancy.
