摘要
为解决梯度投影法求解回避障碍和关节极限下运动学逆解过于严格优化反而限制运动灵活性的问题，首先通过障碍边界约束化建立了通用多边窗口障碍回避作业准则。并根据作业函数对关节角导数的正负变号情况分别定义加权系数，进而引入较为合理的加权系数矩阵，得到了回避障碍和关节极限二元准则下冗余度机器人运动学的加权最小二乘逆解方法。
Tbis paper researcbes and inquires into the theoretical pmblem of inverse kineraatics in tbe multiple criteria operation of redundant robot. The established metbod of tbe optimization of . criteria function for avoiding window obstacle ia tbe universal operation is preseated, on the basis of the general probleza of the optimization of kinematies for tbe avoiding obstacle and joint limits. A weighted lastsquares solution of inverse kinematia on tbe duality criterioct of tbem was made further production. Finally the paper inquired into the optimdzation pmblem of inverse solution for kinematics of redundant robot in the multiple criteria operation. Tbis . paper might be of significance fbr kinematics and the practical study of redundant robot.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
1997年第1期103-106,共4页
Journal of Harbin Institute of Technology
