| 冗余度机器人最小力矩与回避奇异并行优化 |
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| 引用本文： | 刘宇,姜艳姝,孙立宁.冗余度机器人最小力矩与回避奇异并行优化[J].哈尔滨工业大学学报,2006,38(1):1-3,34. |
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| 作者姓名： | 刘宇 姜艳姝 孙立宁 |
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| 作者单位： | 1. 哈尔滨工业大学,机器人研究所,黑龙江,哈尔滨,150001
2. 哈尔滨理工大学,自动化系,黑龙江,哈尔滨,150080 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 针对冗余度机器人梯度投影法最小力矩局部优化所发生的轨迹不稳定现象,经过讨论分析后,明确指出这种不稳定是由关节构形奇异引起的,并提出了一种冗余度机器人最小力矩与回避奇异的并行优化方案.通过对一三自由度冗余度机器人的仿真,证实了所提优化方案是可行、有效的.
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| 关 键 词： | 梯度投影 冗余度机器人 回避奇异 并行优化 |
| 文章编号： | 0367-6234（2006）01-0001-03 |
| 收稿时间： | 2004-09-12 |
| 修稿时间： | 2004-09-12 |
Research on parallel optimization scheme between singularity avoidance and minimum Torque for a Redundant Manipulator |
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| LIU Yu,JIANG Yan-shu,SUN Li-ning.Research on parallel optimization scheme between singularity avoidance and minimum Torque for a Redundant Manipulator[J].Journal of Harbin Institute of Technology,2006,38(1):1-3,34. |
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| Authors: | LIU Yu JIANG Yan-shu SUN Li-ning |
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| Affiliation: | 1. Robotics Institute, Harbin Institute of Technology, Harbin 150001, China, ; 2. Dept. of Automation, Harbin University of Science and Technology, Harbin 150080, China |
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| Abstract: | Aiming at unstable trajectory of minimum torque optimization based on gradient projection,this paper through analysis explicitly points out that instability is caused by joint configuration singularity.Therefore,it presents an optimization scheme between Singularity Avoidance and Minimum Torque for a Redundant Manipulator.At last,through simulation of a 3-DOF redundant manipulator,the scheme proves to be feasible and effective. |
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| Keywords: | gradient projection redundant manipulators singularity avoidance Parallel Optimization |
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