冗余度机械手逆运动学解中具有双重功能的评价函数  

A Value Function with Double Functions in the Solution of Inverse Kinemtics for Redundant Manipulators

作　　者：赵京[1] 

机构地区：[1]北京工业大学

出　　处：《机械科学与技术》1995年第3期10-11,共2页Mechanical Science and Technology for Aerospace Engineering

基　　金：北京市自然科学基金

摘　　要：根据梯度投影法得出了冗余度机械手逆运动学的表达式，构造了一个使机械手能同时完成两个任务─—克服奇异性和避障具有双重功能的评价函数。利用这一评价函数对平面三自由度冗余度机械手进行了仿真分析，并与单一功能评价函数的仿真结果进行了比较。Based on the gradient projection method,a solution of inverse kinematics for redundant manipula-tors is obtained,and then,a value function with double functions is proposed,which makes a manipula-tor perform two subtasks simultaneously-singularity avoidance and obstacle avoidance. Slmulations for a planar redundant manipulator with three-degree of freedom are performed by using this value function ,and a comparison between these results and previous results is also made.

关 键 词：冗余度机械 评价函数 机械手 函数 逆运动 

分 类 号：TH113.2[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]