摘要
对比分析了伪逆法和最优能量算法的原理,给出了最优能量算法的优化方案。笛卡尔空间体系中采用齐次矩阵和四元数法获得位置和姿态的插值;利用优化后的最优能量算法求出逆解,得到与笛卡尔空间中对应的在关节空间中的关节值。文中给出了实际仿真实例,该实例表明本文给出的优化方案在满足正常作业情况下,相对于伪逆法,方案中四元数算法在姿态插值运算上更快并且能量优化效果更好,七轴机械手最小能量消耗节约10%~20%左右。
After compared the principle of pseudo-inverse method with the energy optimal algorithm, a optimization scheme of the energy optimal algorithm is given. the Cartesian space system adopts homogeneous matrix and quaternion method to get the interpolation of position and posture. After getting inverse solution by using optimized energy optimal algorithm, the joint values in the joint space corresponding with Cartesian space can be got. In the paper, we have given the practical simulation examples which indicates that our prioritization scheme′s quaternion method have better operating speed and effect of energy optimization than pseudo method in the attitude interpolation operation when it satisfies the case of normal operation. The seven axis manipulator′ s minimum energy consumption can save energy about 10% to 20%.
出处
《微型机与应用》
2015年第15期1-4,共4页
Microcomputer & Its Applications
基金
2012-2013年国家大学生创新训练项目(201210513022)
关键词
七轴机械手
能量
四元数
seven-axis manipulator
energy
quaternion
