摘要
对冗余度机器人动力学优化中的零空间最小关节力矩法和伪逆法进行了研究,阐述了运动学和动力学同时优化的必要性,提出了一种在加速度级上以最小奇异值为优化性能准则的关节轨迹规划方法.以平面三自由度机器人为仿真对象,在长轨迹情况下对三种算法进行了仿真.仿真结果表明,所提出的算法具有良好的稳定性,并极大地改善了关节空间的终态自运动现象,证明了算法的有效性.
The null-space minimum torque algorithm and pseudoinverse algorithm of dynamics optimization of redundant manipulator were studied.The necessity to optimize the kinematics and dynamics simultaneously was expounded.And a new trajectory planning method of optimizing the minimum singular value at acceleration level was presented.Through the simulation on a three DOF planar redundant manipulator operated in the long trajectory,the stability of the proposed algorithm was demonstrated.It is indicated that it can improve thejoint velocities to be near zero at end of motion, which verifies the validity of the proposed algorithm.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2009年第9期38-41,共4页
Journal of Harbin Institute of Technology
关键词
冗余机器人
最小奇异值
动力学优化
redundant manipulator
minimum singular value
dynamics optimization
