{"id":1601,"date":"2023-02-14T20:00:00","date_gmt":"2023-02-15T04:00:00","guid":{"rendered":"https:\/\/robodk.com\/cn\/blog\/?p=1601"},"modified":"2023-02-06T07:49:22","modified_gmt":"2023-02-06T15:49:22","slug":"robot-singularities","status":"publish","type":"post","link":"https:\/\/robodk.com\/cn\/blog\/robot-singularities\/","title":{"rendered":"\u4ec0\u4e48\u662f\u673a\u5668\u4eba\u5947\u5f02\u70b9\uff1f\u5982\u4f55\u907f\u514d\uff1f"},"content":{"rendered":"\n<p>\u5f53\u4f60\u5bf9\u673a\u5668\u4eba\u7f16\u7a0b\u65f6\uff0c\u673a\u5668\u4eba\u7684\u5947\u5f02\u70b9\u53ef\u80fd\u4f1a\u9020\u6210\u4e25\u91cd\u7834\u574f\u3002<\/p>\n\n\n\n<p>\u4f46\u662f\uff0c\u4ec0\u4e48\u662f\u5947\u5f02\u70b9\uff1f\u4f60\u5982\u4f55\u624d\u80fd\u963b\u6b62\u5947\u5f02\u70b9\u7834\u574f\u4f60\u539f\u672c\u5b8c\u7f8e\u7684\u673a\u5668\u4eba\u7a0b\u5e8f\uff1f<\/p>\n\n\n\n<p>\u6211\u4eec\u5f88\u96be\u627e\u5230\u4e00\u4e2a\u6e05\u6670\u3001\u7b80\u5355\u7684\u673a\u5668\u4eba\u5947\u5f02\u70b9\u5b9a\u4e49\u3002\u8bb8\u591a\u5173\u4e8e\u5947\u5f02\u70b9\u7684\u4fe1\u606f\u90fd\u9690\u85cf\u5728\u6559\u79d1\u4e66\u6216\u5b66\u672f\u6587\u7ae0\u7684\u9875\u9762\u4e2d\u3002\u8981\u7406\u89e3\u8fd9\u4e00\u7406\u8bba\uff0c\u4f60\u5fc5\u987b\u4ed4\u7ec6\u9605\u8bfb\u7406\u89e3\u5927\u91cf\u7684\u65b9\u7a0b\u5f0f\u548c\u6df1\u5965\u7684\u8bcd\u6c47\uff0c\u5982\u201c\u96c5\u53ef\u6bd4\u201d\u3001\u201c\u91cd\u5408\u201d\u3001\u201c\u6b63\u4ea4\u201d\u3001\u201c\u79e9\u201d\u548c\u5176\u4ed6\u5404\u79cd\u672f\u8bed\u3002<\/p>\n\n\n\n<!--more-->\n\n\n\n<p>\u4e5f\u8bb8\u4f60\u5bf9\u8fd9\u4e9b\u8bcd\u5f88\u719f\u6089\uff0c\u4f60\u5bf9\u51e0\u4f55\u548c\u4ee3\u6570\u5341\u5206\u4e86\u89e3\u3002\u4f46\u5373\u4f7f\u5982\u6b64\uff0c\u9664\u975e\u4f60\u5df2\u7ecf\u662f\u4e13\u5bb6\uff08\u5982\u679c\u4f60\u662f\u4e13\u5bb6\uff0c\u4f60\u53ef\u80fd\u4e0d\u9700\u8981\u8fd9\u7bc7\u6587\u7ae0\uff09\uff0c\u5426\u5219\u4f60\u53ef\u80fd\u9700\u8981\u82b1\u5f88\u591a\u65f6\u95f4\u6765\u5145\u5206\u4e86\u89e3\u5947\u5f02\u70b9\u7684\u5b9e\u9645\u60c5\u51b5\u3002<\/p>\n\n\n\n<p>\u8ba9\u6211\u4eec\u4ece\u4e00\u4e2a\u660e\u786e\u7684\u5b9a\u4e49\u5f00\u59cb\u2026<\/p>\n\n\n\n<h2 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class=\"wp-block-heading\">\u66f4\u591a\u7684\u6280\u672f\u5b9a\u4e49<\/h2>\n\n\n\n<p>\u4e0b\u9762\u662f\u4f60\u53ef\u80fd\u4f1a\u9047\u5230\u7684\u4e00\u4e9b\u5b9a\u4e49(\u5176\u4e2d\u5305\u62ec\u6211\u5728\u672c\u6587\u540e\u9762\u89e3\u91ca\u7684\u4e00\u4e9b\u672f\u8bed) :<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u673a\u5668\u4eba\u673a\u68b0\u81c2\u7684<a href=\"https:\/\/www.intechopen.com\/chapters\/11035\"><u>\u8fd0\u52a8\u5b66\u5947\u5f02\u6027<\/u><\/a>\u662f\u6307\u673a\u5668\u4eba\u673a\u68b0\u81c2\u7684\u8fd0\u52a8\u5b66\u6784\u578b\u4e2d\uff0c\u673a\u5668\u4eba\u673a\u68b0\u81c2\u7684\u671f\u671b\u6216\u5178\u578b\u77ac\u65f6\u81ea\u7531\u5ea6\u6570\u53d1\u751f\u53d8\u5316\u7684\u60c5\u51b5\u3002<\/li>\n\n\n\n<li>\u5f53\u673a\u5668\u4eba\u7684<a href=\"https:\/\/modernrobotics.northwestern.edu\/nu-gm-book-resource\/5-3-singularities\/\"><u>\u96c5\u53ef\u6bd4\u77e9\u9635\u7684\u79e9<\/u><\/a>\u5c0f\u4e8e\u96c5\u53ef\u6bd4\u77e9\u9635\u5728\u67d0\u4e9b\u914d\u7f6e\u4e2d\u6240\u80fd\u8fbe\u5230\u7684\u6700\u5927\u79e9\u65f6\uff0c\u5c31\u4f1a\u51fa\u73b0\u5947\u5f02\u73b0\u8c61\u3002<\/li>\n\n\n\n<li>\u5f53\u96c5\u53ef\u6bd4\u77e9\u9635\u7684\u884c\u5217\u5f0f\u4e3a\u96f6\u65f6\uff0c\u7279\u5b9a\u673a\u5668\u4eba\u914d\u7f6e\u5b58\u5728\u5947\u5f02\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6240\u6709\u8fd9\u4e9b\u5b9a\u4e49\u90fd\u6216\u591a\u6216\u5c11\u5730\u8bf4\u660e\u4e86\u76f8\u540c\u7684\u4e8b\u60c5\u3002\u4f46\u662f\uff0c\u6bcf\u4e00\u9879\u90fd\u9700\u8981\u4f60\u6709\u4e0d\u540c\u7a0b\u5ea6\u7684\u80cc\u666f\u7406\u89e3\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u673a\u5668\u4eba\u662f\u5982\u4f55\u79fb\u52a8\u7684? \u4e3a\u4ec0\u4e48\u4f1a\u51fa\u73b0\u5947\u5f02\u70b9\uff1f<\/h2>\n\n\n\n<p>\u5f53\u4f60\u5f00\u59cb\u9605\u8bfb\u57fa\u7840\u7406\u8bba\u65f6\uff0c\u5f88\u5bb9\u6613\u5bf9\u5947\u5f02\u70b9\u611f\u5230\u56f0\u60d1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-1.png\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"389\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-1.png\" alt=\"\" class=\"wp-image-1604\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-1.png 692w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-1-300x169.png 300w\" sizes=\"auto, (max-width: 692px) 100vw, 692px\" \/><\/a><\/figure>\n\n\n\n<p>\u4e0d\u8fc7\uff0c\u4e5f\u6709\u4e2a\u7b80\u5355\u7684\u65b9\u6cd5\u6765\u7406\u89e3\u2026\u2026<\/p>\n\n\n\n<ul 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class=\"wp-block-heading\">\u53d1\u73b0\u673a\u5668\u4eba\u5947\u5f02\u70b9\u7684\u7b80\u5355\u65b9\u6cd5<\/h2>\n\n\n\n<p>\u5982\u4f55\u5feb\u901f\u8bc6\u522b\u673a\u5668\u4eba\u4f55\u65f6\u8fdb\u5165\u5947\u5f02\u70b9\uff1f<\/p>\n\n\n\n<p>\u4e00\u822c\u6765\u8bf4\uff0c\u5947\u5f02\u70b9\u5f88\u5bb9\u6613\u88ab\u53d1\u73b0\u3002\u4f60\u7684\u673a\u5668\u4eba\u6cbf\u7740\u8f68\u8ff9\u4ee5\u6052\u5b9a\u3001\u5e73\u7a33\u7684\u901f\u5ea6\u79fb\u52a8\u2026\u2026\u7136\u540e\u5b83\u505a\u4e86\u4e00\u4e9b\u201c\u5947\u602a\u201d\u7684\u4e8b\u60c5\u3002\u5b83\u7684\u8fd0\u52a8\u53d1\u751f\u4e86\u8ba1\u5212\u5916\u7684\u53d8\u5316\uff0c\u800c\u539f\u56e0\u4e0d\u660e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Robot_Does_Something_Weird.gif\"><img loading=\"lazy\" decoding=\"async\" width=\"600\" height=\"338\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Robot_Does_Something_Weird.gif\" alt=\"\" class=\"wp-image-1606\"\/><\/a><\/figure>\n\n\n\n<p>\u673a\u5668\u4eba\u5728\u505a\u201c\u5947\u602a\u7684\u4e8b\u60c5\u201d\uff08\u867d\u7136\u5b9e\u9645\u4e0a\u4e0d\u662f\u4e00\u4e2a\u5947\u5f02\u70b9\uff09<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u7684\u8fd9\u4e9b\u8ff9\u8c61\u8868\u660e\u4f60\u7684\u673a\u5668\u4eba\u53ef\u80fd\u5df2\u7ecf\u8fdb\u5165\u6216\u7ecf\u8fc7\u5947\u5f02\u70b9\u9644\u8fd1\uff1a<\/p>\n\n\n\n<ul 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class=\"wp-block-heading\">\u5de5\u4e1a\u673a\u5668\u4eba\u4e2d\u5947\u5f02\u70b9\u7684\u4e09\u79cd\u57fa\u672c\u7c7b\u578b<\/h2>\n\n\n\n<p>\u5e38\u89c1\u7684\u673a\u5668\u4eba\u5947\u5f02\u70b9\u5206\u4e3a\u4e09\u79cd\uff1a\u8155\u90e8\u5947\u5f02\u70b9\u3001\u8098\u90e8\u5947\u5f02\u70b9\u548c\u80a9\u90e8\u5947\u5f02\u70b9\u3002<\/p>\n\n\n\n<p>\u867d\u7136\u8fd9\u79cd\u5206\u7c7b\u6709\u70b9\u8fc7\u4e8e\u7b80\u5355\u3002\u4f46\u662f\uff0c\u8fd9\u5f88\u6709\u5e2e\u52a9\uff0c\u56e0\u4e3a\u5f53\u4f60\u4f7f\u7528\u5e38\u89c1\u6807\u51c6\u76846 \u81ea\u7531\u5ea6\u64cd\u7eb5\u5668\u65f6\uff0c\u8fd9\u662f\u5de5\u4e1a\u673a\u5668\u4eba\u4e2d\u6700\u5e38\u9047\u5230\u76843\u79cd\u5947\u5f02\u70b9\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u662f\u5bf9\u8fd9\u4e9b\u95ee\u9898\u7684\u7b80\u8981\u4ecb\u7ecd:<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">1.\u8155\u90e8\u5947\u5f02\u70b9<\/h2>\n\n\n\n<p>\u5f53\u673a\u5668\u4eba\u7684\u5173\u82824\u548c\u5173\u82826\u7684\u8f74\u53d8\u4e3a\u201c\u91cd\u5408\u201d\u6216\u5e73\u884c\u65f6\uff0c\u8155\u90e8\u5947\u5f02\u70b9\u5c31\u4f1a\u4ea7\u751f\uff0c\u5177\u4f53\u53d6\u51b3\u4e8e\u673a\u5668\u4eba\u3002\u91cd\u5408\u7ebf\u662f\u6307\u5f7c\u6b64\u5e73\u884c\u4e14\u5171\u4eab\u4e00\u4e2a\u70b9\u7684\u7ebf\u2026\u8fd9\u57fa\u672c\u4e0a\u610f\u5473\u7740\u4e24\u6761\u72ec\u7acb\u7684\u7ebf\u6210\u4e3a\u540c\u4e00\u6761\u7ebf\u3002<\/p>\n\n\n\n<p>\u6362\u53e5\u8bdd\u8bf4\uff0c\u4e24\u4e2a\u5173\u8282\u7684\u8f74\u7ebf\u5b8c\u5168\u4e00\u81f4\u3002<\/p>\n\n\n\n<p>\u5927\u591a\u6570\u5de5\u4e1a6 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href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Wrist-Singularity.gif\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"577\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Wrist-Singularity-1024x577.gif\" alt=\"\" class=\"wp-image-1607\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Wrist-Singularity-1024x577.gif 1024w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Wrist-Singularity-300x169.gif 300w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Wrist-Singularity-768x433.gif 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure>\n\n\n\n<p>\u5f53\u673a\u5668\u4eba\u5230\u8fbe\u8155\u90e8\u5947\u5f02\u70b9\u65f6\uff0c\u5176\u672b\u7aef\u6267\u884c\u5668\u4fdd\u6301\u9759\u6b62\uff0c\u800c\u5173\u82824\u548c6\u4ee5\u76f8\u53cd\u65b9\u5411\u4ee5\u6700\u9ad8\u901f\u5ea6\u65cb\u8f6c\u3002\u7136\u540e\u673a\u5668\u4eba\u7ee7\u7eed\u6cbf\u7740\u5b83\u7684\u8def\u5f84\u524d\u8fdb\u3002<\/p>\n\n\n\n<p>\u6ce8\u610f\uff1a\u5728\u8be5\u52a8\u753b\u4e2d\uff0c\u8155\u90e8\u5173\u8282\u5728\u76f4\u7ebf\u4e2d\u4ee5\u65e0\u9650\u5feb\u7684\u901f\u5ea6\u79fb\u52a8\u3002\u5982\u679c\u8fd9\u662f\u4e00\u4e2a\u7269\u7406\u673a\u5668\u4eba\uff0c\u90a3\u4e48\u5728\u4fdd\u6301\u672b\u7aef\u6267\u884c\u5668\u6052\u5b9a\u901f\u5ea6\u7684\u60c5\u51b5\u4e0b\uff0c\u8fd9\u79cd\u8fd0\u52a8\u662f\u4e0d\u53ef\u80fd\u5b9e\u73b0\u7684\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">2.\u8098\u90e8\u5947\u5f02\u70b9<\/h2>\n\n\n\n<p>\u4f60\u901a\u5e38\u53ef\u4ee5\u5f88\u597d\u5730\u5224\u65ad\u51fa\u8098\u90e8\u5947\u5f02\u70b9\uff0c\u56e0\u4e3a\u5b83\u770b\u8d77\u6765\u50cf\u673a\u5668\u4eba\u201c\u4f38\u5c55\u5f97\u592a\u8fdc\u4e86\u201d\u3002\u5728\u8bb8\u591a\u673a\u5668\u4eba\u4e2d\uff0c\u5f53\u8098\u90e8\u5173\u8282\uff08\u5173\u82823\uff09\u5904\u4e8e0\u00b0\u65f6\uff0c\u5c31\u4f1a\u51fa\u73b0\u5947\u5f02\u70b9\uff0c\u4f46\u8fd9\u53d6\u51b3\u4e8e\u673a\u5668\u4eba\u7684\u521d\u59cb\u4f4d\u7f6e\u662f\u5982\u4f55\u5b9a\u4e49\u7684\u3002<\/p>\n\n\n\n<p>\u4ece\u6280\u672f\u4e0a\u8bb2\uff0c\u5f53\u673a\u5668\u4eba\u8155\u90e8\u7684\u4e2d\u5fc3\uff08\u5373\u6240\u67093\u4e2a\u624b\u8155\u8f74\u4f1a\u805a\u7684\u70b9\uff09\u4e0e\u5173\u82822\u548c\u5173\u82823\u4f4d\u4e8e\u540c\u4e00\u5e73\u9762\u4e0a\u65f6\uff0c\u5c31\u4f1a\u51fa\u73b0\u8098\u90e8\u5947\u5f02\u70b9\u3002\u7406\u8bba\u4e0a\uff0c6 \u81ea\u7531\u5ea6\u673a\u68b0\u81c2\u4e2d\u6709\u4e24\u4e2a\u8098\u90e8\u5947\u5f02\u70b9\u2014\u2014\u4e00\u4e2a\u662f\u624b\u81c2\u5b8c\u5168\u4f38\u5c55\u65f6\uff0c\u53e6\u4e00\u4e2a\u662f\u6298\u53e0\u5728\u81ea\u8eab\u4e0a\u65f6\u2014\u2014\u4f46\u4ece\u7269\u7406\u5c42\u9762\u800c\u8a00\u53ea\u6709\u7b2c\u4e00\u79cd\u662f\u53ef\u80fd\u7684\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Elbow-Singularity.gif\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"577\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Elbow-Singularity-1024x577.gif\" alt=\"\" class=\"wp-image-1608\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Elbow-Singularity-1024x577.gif 1024w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Elbow-Singularity-300x169.gif 300w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Elbow-Singularity-768x433.gif 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure>\n\n\n\n<p>\u4f60\u4e5f\u53ef\u4ee5\u5c06\u8098\u90e8\u5947\u5f02\u70b9\u770b\u4f5c\u662f\u673a\u5668\u4eba\u201c\u8098\u90e8\u5411\u4e0a\u201d\u548c\u201c\u8098\u90e8\u5411\u4e0b\u201d\u914d\u7f6e\u4e4b\u95f4\u7684\u8fc7\u6e21\u3002\u5728RoboDK\u4e2d\uff0c\u4f60\u53ef\u4ee5\u9009\u62e9\u5e0c\u671b\u673a\u5668\u4eba\u4f7f\u7528\u54ea\u79cd\u914d\u7f6e\u6765\u8fbe\u5230\u7279\u5b9a\u7684\u672b\u7aef\u6267\u884c\u5668\u59ff\u52bf\u3002\u800c\u5f53\u673a\u5668\u4eba\u8fdb\u5165\u8098\u90e8\u5947\u5f02\u70b9\u65f6\uff0c\u8fd9\u4e24\u79cd\u914d\u7f6e\u770b\u8d77\u6765\u90fd\u662f\u4e00\u6837\u7684\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-3.png\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"486\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-3-1024x486.png\" alt=\"\" class=\"wp-image-1609\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-3-1024x486.png 1024w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-3-300x142.png 300w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-3-768x365.png 768w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-3.png 1536w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">3.\u80a9\u90e8\u5947\u5f02\u70b9<\/h2>\n\n\n\n<p>\u4f60\u53ef\u80fd\u9047\u5230\u7684\u7b2c\u4e09\u79cd\u7c7b\u578b\u662f\u80a9\u90e8\u5947\u5f02\u70b9\u3002\u5f53\u673a\u5668\u4eba\u8155\u90e8\u4e2d\u5fc3\u4e0e\u5173\u82821\u7684\u8f74\u7ebf\u5bf9\u9f50\u65f6\uff0c\u6216\u8005\u5f53\u5173\u82826\u7684\u8f74\u7ebf\u4e0e\u5173\u82821\u8f74\u7ebf\u91cd\u5408\u65f6\uff0c\u5c31\u4f1a\u53d1\u751f\u8fd9\u79cd\u60c5\u51b5\u3002<\/p>\n\n\n\n<p>\u5f53\u673a\u5668\u4eba\u63a5\u8fd1\u80a9\u90e8\u5947\u5f02\u70b9\u65f6\uff0c\u5173\u82821\u548c4\u4e2d\u7684\u7535\u673a\u4f1a\u4ee5\u65e0\u9650\u7684\u901f\u5ea6\u65cb\u8f6c180\u00b0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Shoulder-Singularity.gif\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"577\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Shoulder-Singularity-1024x577.gif\" alt=\"\" class=\"wp-image-1610\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Shoulder-Singularity-1024x577.gif 1024w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Shoulder-Singularity-300x169.gif 300w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Shoulder-Singularity-768x433.gif 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure>\n\n\n\n<p>\u6ce8\u610f\uff1a\u5176\u4e2d\u4e00\u4e9b\u52a8\u753b\u5b9e\u9645\u4e0a\u662f\u201c\u5047\u7684\uff01\u201d\u5728\u521b\u5efa\u8fd9\u4e9b\u6a21\u62df\u7684RoboDK\u4e2d\uff0c\u8f6f\u4ef6\u4e0d\u4f1a\u8ba9\u4f60\u521b\u5efa\u4e00\u4e2a\u8ba9\u673a\u5668\u4eba\u901a\u8fc7\u5947\u5f02\u70b9\u7684\u7a0b\u5e8f\u3002<\/p>\n\n\n\n<p>\u8fd9\u5c31\u662f\u5982\u679c\u4f60\u5c1d\u8bd5\u5728RoboDK\u4e2d\u7f16\u7a0b\u8fd9\u4e2a\u52a8\u4f5c\u7684\u771f\u5b9e\u60c5\u51b5\u2026<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Shoulder-Singularity-Error.gif\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"577\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Shoulder-Singularity-Error-1024x577.gif\" alt=\"\" class=\"wp-image-1611\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Shoulder-Singularity-Error-1024x577.gif 1024w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Shoulder-Singularity-Error-300x169.gif 300w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/Shoulder-Singularity-Error-768x433.gif 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u5de5\u4f5c\u7a7a\u95f4\u5185\u90e8\u4e0e\u8fb9\u754c\u5947\u5f02\u70b9<\/h2>\n\n\n\n<p>\u53e6\u4e00\u79cd\u5bf9\u673a\u5668\u4eba\u5947\u5f02\u70b9\u8fdb\u884c\u5206\u7c7b\u7684\u65b9\u6cd5\u662f\u5c06\u5176\u5206\u4e3a\u4e24\u7ec4\uff1a<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5de5\u4f5c\u533a\u5185\u90e8\u5947\u5f02\u70b9<\/h2>\n\n\n\n<p>\u5f53\u673a\u5668\u4eba\u7684\u5de5\u5177\u4e2d\u5fc3\u70b9\uff08TCP\uff09\u843d\u5728\u673a\u5668\u4eba\u5de5\u4f5c\u7a7a\u95f4\u7684\u8fb9\u754c\u5185\u65f6\uff0c\u5c31\u4f1a\u51fa\u73b0\u8fd9\u79cd\u5947\u5f02\u70b9\u3002\u5f53\u673a\u5668\u4eba\u7684\u4e24\u4e2a\u6216\u591a\u4e2a\u5173\u8282\u8f74\u5f7c\u6b64\u5bf9\u9f50\u65f6\uff0c\u5c31\u4f1a\u4ea7\u751f\u8fd9\u4e9b\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u8155\u90e8\u548c\u80a9\u8180\u5947\u5f02\u70b9\u90fd\u662f\u5de5\u4f5c\u7a7a\u95f4\u5185\u90e8\u5947\u5f02\u70b9\u7684\u4f8b\u5b50\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e9b\u901a\u5e38\u662f\u6700\u96be\u907f\u514d\u7684\uff0c\u56e0\u4e3a\u5b83\u4eec\u5728\u673a\u5668\u4eba\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u7684\u4f4d\u7f6e\u4e0d\u662f\u5f88\u660e\u663e\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5de5\u4f5c\u533a\u8fb9\u754c\u5947\u5f02\u70b9<\/h2>\n\n\n\n<p>\u53e6\u4e00\u79cd\u5947\u5f02\u70b9\u53d1\u751f\u5728\u673a\u5668\u4eba\u5de5\u4f5c\u7a7a\u95f4\u7684\u8fb9\u754c\u3002\u6bcf\u5f53\u673a\u5668\u4eba\u7684TCP\u63a5\u8fd1\u8fb9\u754c\u65f6\uff0c\u5b83\u5c31\u6709\u53ef\u80fd\u8fdb\u5165\u5947\u5f02\u70b9\u3002<\/p>\n\n\n\n<p>\u8098\u90e8\u5947\u5f02\u70b9\u662f\u5de5\u4f5c\u7a7a\u95f4\u8fb9\u754c\u5947\u5f02\u70b9\u7684\u4e00\u4e2a\u4f8b\u5b50\u3002<\/p>\n\n\n\n<p>\u907f\u514d\u5de5\u4f5c\u7a7a\u95f4\u8fb9\u754c\u5947\u5f02\u70b9\u76f8\u5bf9\u5bb9\u6613\u3002\u53ea\u9700\u6fc0\u6d3b\u7279\u5b9a\u673a\u5668\u4eba\u7684\u5de5\u4f5c\u7a7a\u95f4\u53ef\u89c6\u5316\uff08\u8fd9\u5728RoboDK\u4e2d\u5f88\u5bb9\u6613\u5b9e\u73b0\uff09\u3002\u7136\u540e\uff0c\u786e\u4fdd\u4f60\u7684\u4efb\u52a1\u5728\u673a\u5668\u4eba\u7684\u5de5\u4f5c\u7a7a\u95f4\u5185\uff0c\u8fdc\u79bb\u8fb9\u754c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-4.png\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"849\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-4-1024x849.png\" alt=\"\" class=\"wp-image-1612\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-4-1024x849.png 1024w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-4-300x249.png 300w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-4-768x637.png 768w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2023\/02\/image-4.png 1091w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure>\n\n\n\n<h2 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href=\"https:\/\/robodk.com.cn\/cn\/download\"><u>\u6253\u5f00RoboDK<\/u><\/a>\u5e76\u52a0\u8f7d\u4e00\u4e2a\u673a\u5668\u4eba\u6a21\u578b\u3002<\/p>\n\n\n\n<p>\u5728\u8f6f\u4ef6\u4e2d\uff0c\u4f60\u53ef\u4ee5\u8f93\u5165\u4e00\u4e2a\u70b9\u7684\u5750\u6807\uff0c\u673a\u5668\u4eba\u5c06\u4ee5\u5b9a\u4e49\u7684\u901f\u5ea6\u79fb\u52a8\u5230\u8be5\u70b9\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u4f60\u662f\u5728\u201c\u7b1b\u5361\u5c14\u7a7a\u95f4\u201d\u4e2d\u63a7\u5236\u673a\u5668\u4eba\uff08\u5373\uff0c\u4f60\u53ef\u4ee5\u8f93\u5165\u672b\u7aef\u6548\u5e94\u5668\u7684X\u3001Y\u548cZ\u5750\u6807\u4ee5\u53ca\u65b9\u5411\uff09\u3002<\/p>\n\n\n\n<p>\u95ee\u9898\u662f\uff0c\u673a\u5668\u4eba\u9700\u8981\u5728\u201c\u5173\u8282\u7a7a\u95f4\u201d\u4e2d\u8fdb\u884c\u63a7\u5236\u3002\u673a\u5668\u4eba\u9700\u8981\u77e5\u9053\u6240\u6709\u5173\u8282\u7684\u6240\u9700\u89d2\u5ea6\u4ee5\u53ca\u5173\u8282\u7684\u79fb\u52a8\u901f\u5ea6\u3002<\/p>\n\n\n\n<p>\u673a\u5668\u4eba\u7684\u63a7\u5236\u7b97\u6cd5\u5fc5\u987b\u5c06\u7b1b\u5361\u5c14\u6307\u4ee4\u8f6c\u6362\u4e3a\u8054\u5408\u6307\u4ee4\u3002\u5176\u4e2d\u6d89\u53ca\u5230\u5f88\u591a\u6570\u5b66\u8fd0\u7b97\uff0c\u4ece\u800c\u53ef\u4ee5\u8ba9\u4f60\u5728\u7b1b\u5361\u5c14\u7a7a\u95f4\u4e2d\u79fb\u52a8\u673a\u5668\u4eba\uff01<\/p>\n\n\n\n<p>\u96c5\u53ef\u6bd4\u77e9\u9635\u53ef\u7528\u4e8e\u51e0\u79cd\u4e0d\u540c\u7684\u8ba1\u7b97\uff1a<\/p>\n\n\n\n<ul 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href=\"https:\/\/www.mathsisfun.com\/algebra\/matrix-determinant.html\"><u>\u884c\u5217\u5f0f<\/u><u>\u7684\u5b9a\u4e49<\/u><\/a>\u662f\u4ec0\u4e48\uff1f\u5b83\u662f\u901a\u8fc7\u4ee5\u7279\u5b9a\u65b9\u5f0f\u5bf9\u77e9\u9635\u7684\u6240\u6709\u5143\u7d20\u6c42\u548c\u6765\u8ba1\u7b97\u7684\u503c\u3002<\/p>\n\n\n\n<p>\u77e9\u9635\u7684\u884c\u5217\u5f0f\u4e3a\u6211\u4eec\u5e26\u6765\u4e86\u4ec0\u4e48\uff1f\u9996\u5148\uff0c\u5b83\u6709\u52a9\u4e8e\u8ba1\u7b97\u77e9\u9635\u7684\u9006\u3002\u8fd9\u5f88\u91cd\u8981\uff0c\u56e0\u4e3a\u6211\u4eec\u9700\u8981\u201c\u9006\u96c5\u53ef\u6bd4\u201d\u5c06\u6240\u9700\u7684\u672b\u7aef\u6267\u884c\u5668\u901f\u5ea6\u8f6c\u6362\u4e3a\u4e00\u7ec4\u5173\u8282\u901f\u5ea6\u3002<\/p>\n\n\n\n<p>\u884c\u5217\u5f0f\u4e3a\u96f6\u65f6\u662f\u4ec0\u4e48\u610f\u601d\uff1f\u5b83\u5411\u6211\u4eec\u8868\u660e\uff0c\u77e9\u9635\u8868\u793a\u7684\u7ebf\u6027\u65b9\u7a0b\u6ca1\u6709\u89e3\u3002\u8fd9\u610f\u5473\u7740\u884c\u5217\u5f0f\u4e3a\u96f6\u7684\u96c5\u53ef\u6bd4\u77e9\u9635\u6ca1\u6709\u89e3\u3002<\/p>\n\n\n\n<p>\u6362\u53e5\u8bdd\u8bf4\uff0c\u673a\u5668\u4eba\u88ab\u5361\u4f4f\u662f\u56e0\u4e3a\u6570\u5b66\u5728\u5947\u5f02\u70b9\u5904\u201c\u5d29\u6e83\u201d\u4e86\u3002<\/p>\n\n\n\n<h2 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href=\"https:\/\/www.parallemic.org\/Reviews\/Review005.html\"><u>\u7279\u6b8a\u60c5\u51b5\u7684\u5947\u5f02<\/u><u>\u70b9<\/u><\/a>\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5982\u679c\u4f60\u60f3\u5f00\u59cb\u4e86\u89e3\u5e76\u884c\u673a\u5668\u4eba\u5947\u5f02\u70b9\uff0c\u6211\u5efa\u8bae\u4ece<a href=\"https:\/\/www.sciencedirect.com\/science\/article\/abs\/pii\/S0967066115000271\"><u>\u8fd9\u7bc7\u7814\u7a76\u8bba\u6587<\/u><\/a>\u5f00\u59cb\uff0c\u5b83\u6e05\u695a\u5730\u89e3\u91ca\u4e863\u79cd\u4e3b\u8981\u7c7b\u578b\uff0c\u7136\u540e\u518d\u770b\u8fd9\u7bc7\u9996\u6b21\u4ecb\u7ecd\u5b83\u4eec\u7684<a href=\"https:\/\/www.researchgate.net\/publication\/3298042_Singularity_Analysis_of_Closed-Loop_Kinematic_Chains\"><u>\u5f00\u521b\u6027\u8bba\u6587<\/u><\/a>\u3002<\/p>\n\n\n\n<h2 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