冗余度机器人动力学优化控制研究

陈伟海; 张启先; 杨宗煦; 李健

冗余度机器人动力学优化控制研究

北京航空航天大学机电工程系

基金项目: 航天863计划(863-2-5)、国家自然科学基金(59505015)资助项目

详细信息

中图分类号: TP 24
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- 被引次数: 0
出版历程
- 收稿日期: 1997-04-24
- 网络出版日期: 1998-05-31

Research on Dynamic Optimization Control of Redundant Manipulators

Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering

摘要

摘要: 稳定性和终态自运动是动力学优化中的难点.为了解决冗余度机器人动力学优化中的这些困难,深入研究了动力学优化和关节速度间的内在联系和矛盾,提出通过优化关节速度提高动力学优化的综合品质的思想,阐述了在线调节关节速度齐次项,同时改善稳定性和终态自运动的方案.仿真证实所提方案的实用性和有效性.
- 冗余 /
- 机器人 /
- 动力学 /
- 优化 /
- 控制
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.
- redundancy /
- robots /
- dynamic /
- optimization /
- control

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参考文献(1)

1. Maciejewski A A.Kinetic limitations on the use of redundancy in robotic manipulators. IEEE Trans on Robotics and Automation, 1991, 7(2):205~210 2. Khatib O. Dynamic control of manipulators in operational space. 6th IFTOMM Congress on Theory of Machines and Mechanisms, New Delhi, 1983.1123~1131 3. Suh K C,Hollerbach J M. Local versus global torque optimization of redundant manipulators. Proc of IEEE Int Conf on Robotics and Automation,1987. 619~624 4. Kang H J,Freeman R A. Null space damping method for local joint torque optimization of redundant manipulators. J of Robotic Systems,1993, 10(2):249~270 5. 陈伟海.冗余自由度机器人优化控制研究:[学位论文].北京:北京航空航天大学机电工程系,1996 6. Ma S. A stabilized local optimization technique for redundant manipulators. Proc of IEEE Int Conf on Robotics and Automation, 1995.2791~2796 7. Hollerbach J M,Suh K C. Redundancy resolution of manipulators through torque optimization. IEEE J of Robotics and Automation, 1987, RA-3(4):308~316 8. Baillieul J, Hollerbach J M,Brockett R. Programming and control of kinematically redundant manipulators. Proc 23rd IEEE CDC, 1984.768~774 9. 熊有伦,丁汉,刘恩沧.机器人学.北京:机械工业出版社,1993

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