冗余度机械手的混合法控制策略  

Control tactics of blended method for redundant manipulators

作　　者：赵京[1] 

机构地区：[1]北京工业大学

出　　处：《机械设计》1996年第3期19-21,共3页Journal of Machine Design

摘　　要：在文献３的基础上对冗余度机械手的混合法控制策略做了进一步的研究，给出了７Ｒ冗余度机械手的仿真实例，并将该方法与梯度投影法及变量约束法进行了比较，研究结果表明，混合法是一种有效的控制策略。Based on the financial aided item of natural science fund of Beijing this paper made a further study on control tactics of blended method for redundant manipulators and gave out a simulated living example on the 7R redundant manipulator.This method has been compared with gradient projection method and variable constraint method, and the result of research shows that the blended method is a kind of effective control tactics.

关 键 词：冗余度 机械手 混合法控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]