基于最小值原理的冗余度机器人动力学控制  

Research on Dynamic Optimum Control Based on Minimum Principle for Redundant Manipulators

作　　者：陈伟海[1] 李健[1] 张启先[1] 杨宗煦[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》1999年第1期108-111,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：为了解决冗余度机器人全局法优化中数值求解的困难，本文讨论了动力学方程的建立、无约束和有约束最优控制问题之间的内在联系，重点分析了求解最优控制问题的数值方法．文中提出双向异步积分迭代求解正则方程组的直接迭代法，较好解决了状态方程和协态方程稳定性相逆给求解两点边值问题带来的困难．To solve the difficulties of digital integral that exist in global optimization of redundant manipulators, this paper discussed how to build up dynamic equation, the inner relation between constraints and unconstraint optimum control problems, then a digital method solving optimum control problems is deeply analyzed. A direct iteration method in solving normal equations by means of bidirectional asynchronous integral has been successfully exploited, so that it can efficiently overcome the difficulty in solving two point boundary value problems resulting from inverse stability between state equation and co state equation.

关 键 词：冗余度 机器人 动力学 优化控制 最小值原理 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]