穷举法求解含有约束的冗余度机械臂的最大运动路径  

Using Exhaustive Method to Find the Maximal Motion Distance of a Redundant Manipulator with Restrictions

作　　者：李建华[1] 张伟军[1] 袁建军[1] 吴繁[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械与电子》2009年第12期51-54,共4页Machinery & Electronics

摘　　要：提出了一种求解冗余度机械手在含有保持末端姿态角度不变和末端轨迹为直线运动的约束时,可以移动的最大路径的方法.将该问题转化为数学模型,是一个含有约束的最优化问题,对计算能力有限和对实时性要求比较高的系统,采用常规的拉格朗日松弛法求解计算效率低下,不能满足实际需要.因此,采用穷举法求解该问题,并通过实际的计算验证,使用穷举法可以很快求解出该问题的最优值.This paper presented a solution of finding the maximal motion length of a redundant manipulator with the restrictions of keeping the end attitude angle of the manipulator as a constant and the end of the manipulator for a linear motion. The mathematical model of this problem is an optimization problem with restrictions. This problem is usually solved through Lagrangian this method is not effeetive in some relaxation, but situation. Exhaustive method is used in this paper to solve this problem and it eould be well solved through this method.

关 键 词：穷举法 冗余度机械手 约束 最大路径 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]