冗余度机械手逆运动学问题的次优准则混合法  

The Combined Method with Suboptimal Criteria to Inverse Kinematic Problems for Redundant Manipulators

作　　者：赵京[1] 白师贤[1] 

机构地区：[1]北京工业大学

出　　处：《机械科学与技术》1996年第6期939-942,共4页Mechanical Science and Technology for Aerospace Engineering

摘　　要：在梯度投影法的基础上，本文提出了处理冗余度机械手逆运动学问题的一种新方法次优准则混合法。该方法吸收了梯度投影法和最小范数法的优点。利用平面３Ｒ机械手进行了仿真研究。Based on the gradient projection method ,the combined method with suboptimal criteria to inverse kinematic problems for redundant manipulators is proposed. The method absorbs the advantages of the gradient projection method and minimum norm method. A simulation research for a 3R redundant manipulator is made to illustrate the proposed method and compare it with the other methods.

关 键 词：冗余度 机械手 逆运动学 次优准则 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]