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�������պ����ѧѧ�� 1998, Vol. 24 Issue (5) :607-610    DOI:
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Research on Dynamic Optimization Control of Redundant Manipulators
Chen Weihai, Zhang Qixian, Yang Zongxu, Li Jian*
Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering

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Abstract�� Stability and end state self-motion are important and difficult points. To solve these difficulties that exist in dynamic optimization of redundant manipulators, this paper deeply researched the inner relation and contradictory conflict between the dynamic optimization and the joint velocities, a new idea to raise the general quality of dynamic optimization by means of optimizing joint velocities is presented; A scheme resulted from adjusting joint velocity homogeneous item in real-time is developed to effectively improve stability and joint velocities at end of motion to be near zero; Computer simulations verified the proposed approach to be very useful and efficient.
Keywords�� redundancy   robots   dynamic   optimization   control     
Received 1997-04-24;
Fund:

����863�ƻ�(863-2-5)��������Ȼ��ѧ����(59505015)������Ŀ

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��ΰ��, ������, ������, �.����Ȼ����˶���ѧ�Ż������о�[J]  �������պ����ѧѧ��, 1998,V24(5): 607-610
Chen Weihai, Zhang Qixian, Yang Zongxu, Li Jian.Research on Dynamic Optimization Control of Redundant Manipulators[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 1998,V24(5): 607-610
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y1998/V24/I5/607
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