摘要
以牛顿—欧拉算法为基础 ,建立适合于双臂机器人实时控制的在线控制算法 ,该算法包括 3个部分 ,一是运动在线控制算法 ,二是在线载荷优化算法 ,三是逆动力学在线控制算法 .该算法不仅给出相应运动学及动力学递推计算公式 ,而且以载荷的最小范数为目标函数 ,实现载荷的最优分配 ,使在线控制算法更具应用价值 .
In this paper,based on the Newton-Euler recurrence algorithm,on-line control algorithm is developed which can be used for the real-time control of dual-arm robot.This algorithm includes three sections, one is the on-line control algorithm of kinematics, second is the algorithm of load optimal,and third is the on-line control algorithm of inverse dynamics. The recursive computation formulas of kinematic and dynamic not only is given, but also the minimal load distribution is developed with the least-norm of load as a objective function.By this method, the applied value of the on-line control algorithm can be increased.
出处
《海南大学学报（自然科学版）》
CAS
2001年第1期32-36,共5页
Natural Science Journal of Hainan University
基金
河南省科委自然科学基金!项目 ( 9640 72 2 0 0 )
