冗余度机器人多目标模糊规划的研究  

Research on Fuzzy Multiobjective Optimization for Redundant Robots

作　　者：郭大忠[1] 柳洪义[1] 

机构地区：[1]东北大学,辽宁沈阳110004

出　　处：《机械与电子》2006年第5期42-44,共3页Machinery & Electronics

摘　　要：利用冗余度机器人的冗余特性可以实现机器人避奇异位形,仿止关节运动范围越限,避障碍物等多种优化,从而使该类机器人的操作性能和灵活性得到提高[1-3]。采用多目标模糊规划对冗余度机器人的多目标优化进行研究,并提出优化方法,仿真验证了该方法具有可行性。Redundant robots can easily achieve capabilities such as avoiding the singularity position and orientation, avoiding obstacle and avoiding the motion of joints surpassing the rang because the flexibility of this kind of robot is highly improved. In this paper fuzzy multi - objective optimization is used to study multi - objective optimization of redundant robots, and a optimal method is proposed. Computer simulation shows that the algorithm has good feasibility.

关 键 词：冗余度机器人 多目标优化 模糊规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]