三分支机器人协调操作及关节力矩优化

针对三分支机器人协调运动，采用分离影响系数法分离各个分支的雅可比矩阵和惯性矩阵，再重新组合成整个系统的雅可比矩阵和惯性矩阵，建立三分支机器人运动学和动力学方程．应用乘子罚函数方法，对三分支机器人基于最小关节驱动力矩优化设计,避免矩阵的奇异值分解，提高计算的稳定性，应用迭代方法，简化了问题的求解．

Coordinated Manipulation and Joint Torque Optimization of Three Branches Robot

For the coordinated movement of three branches robot, the method of separating influence coefficient is used to separate the Jacobian matrix and inertia matrix of each branch of the robot. The Jacobian matrix and inertia matrix of the whole robot system may be reconstituted by separating the influence coefficient. So the kinematics and dynamics equations can be set up. The method of multiplier penalty function is utilized to optimize the least joint driving moment of the three branches robot. The singular value decomposition of matrix may be avoided, and the calculational stability may be improved. Iteration is used to calculate the question and to simplify the solving process.