冗余度机器人动力学优化控制研究  

Research on Dynamic Optimization Control of Redundant Manipulators

作　　者：陈伟海[1] 张启先[1] 杨宗煦[1] 李健[1] 

机构地区：[1]北京航空航天大学

出　　处：《北京航空航天大学学报》1998年第5期607-610,共4页Journal of Beijing University of Aeronautics and Astronautics

基　　金：航天863计划;国家自然科学基金

摘　　要：稳定性和终态自运动是动力学优化中的难点．为了解决冗余度机器人动力学优化中的这些困难，深入研究了动力学优化和关节速度间的内在联系和矛盾，提出通过优化关节速度提高动力学优化的综合品质的思想，阐述了在线调节关节速度齐次项，同时改善稳定性和终态自运动的方案．仿真证实所提方案的实用性和有效性．Stability and end state self motion are important and difficult points. To solve these difficulties that exist in dynamic optimization of redundant manipulators, this paper deeply researched the inner relation and contradictory conflict between the dynamic optimization and the joint velocities, a new idea to raise the general quality of dynamic optimization by means of optimizing joint velocities is presented; A scheme resulted from adjusting joint velocity homogeneous item in real-time is developed to effectively improve stability and joint velocities at end of motion to be near zero; Computer simulations verified the proposed approach to be very useful and efficient.

关 键 词：冗余 机器人 动力学 优化控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]