基于可控性和全局性的空间柔性机器人驱动力矩自运动规划策略  

A Efficient Method to Optimize the Joint Torques of a Flexiblie Redundant Manipulator by Planning the Self-motion

作　　者：张绪平[1] 余跃庆[1] 

机构地区：[1]北京工业大学,北京100022

出　　处：《中国机械工程》2005年第15期1369-1373,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(59975001);北京市教委科技发展项目(01kj-016);北京市科技新星(B类)项目(2003B04)

摘　　要：提出了一种有利于控制实施并具有全局性的自运动动力规划方法,优化了柔性机器人关节驱动力矩。在保证机器人实现预定运动轨迹的条件下,利用机器人的冗余度,通过优化机器人各关节自运动,尽可能地同时降低机器人的关节驱动力矩和末端的弹性变形的运动误差。通过对一空间4R柔性机器人的数值仿真验证了这一方法的有效性。The planning scheme of joint torques was discussed by optimizing the joint self-motion ot manipulators. The impoved optimization method was presented in which the combination of joint torques and endpoint errors was determined as optimal obiective and the joint self-motin varibles were considered as constants. The numerical simulation of a 4R spatial manipulator shows that the method is effective.

关 键 词：弹性变形 冗余度机器人 驱动力矩 自运动 

分 类 号：TH112[机械工程—机械设计及理论]