Flexible Redundant Robot Dynamic Planning with Suppressing Vibration and Joint Torque Optimization
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摘要: 考虑机器人的结构柔性,研究了利用冗余度机器人的"自运动"同时进行振动抑制和机器人关节力矩优化的方法.研究表明,在进行柔性冗余度机器人的动力学优化时,应从振动和关节力矩两方面考虑.若单考虑振动抑制,机器人的关节力矩将可能无穷增大,使算法失效;若单考虑关节力矩优化,机器人臂末端的振动将有可能发散.这里给出的算法同时考虑了这两方面.不同于冗余度机器人传统的优化方法——机器人雅克比矩阵的零空间优化法,这里从最优控制论的方法着手,研究了考虑结构变形的冗余度机器人利用其自身的"自运动"进行振动抑制和关节力矩优化.仿真结果,证明了这种优化方法是完全可行的.Abstract: This paper addresses the dynamic planning of flexible redundant robot to depress the vibrations and to optimize the joint torgues.It has been revealed that both vibrations and joint torques are key factors which have to be deal with.If one take one sided approach to the problem,some torques or vibrations would diverg to infonities.The algorithm leveloped in the paper concerns with the two sides.Instead of conventional null spase method,the optinmal control theory has been used.The simulation has verfified the feasibleness of the method.
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Key words:
- redundancy /
- robots /
- dynamics /
- flexibility /
- optimal
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