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| 一类多体系统的非完整运动规划最优控制 | |
| 引用本文： | 戈新生,陈立群,刘延柱.一类多体系统的非完整运动规划最优控制[J].工程力学,2006,23(3):63-68. |
| 作者姓名： | 戈新生 陈立群 刘延柱 |
| 作者单位： | 1. 北京机械工业学院基础部,北京100085 2. 上海大学力学系,上海应用数学和力学研究所,上海200072 3. 上海交通大学工程力学系,上海,200030 |
| 摘 要： | 研究一类带有非完整约束的多体系统运动规划问题。由于非完整约束的存在,运动规划和控制问题比一般的多体系统要困难得多。讨论了非完整系统的特性及可控性条件,利用无限维优化和控制理论,结合非完整控制系统特性,以系统耗散能量为性能指标,给出一类非完整运动规划的最优数值方法。最后将该方法用于自由漂浮空间双臂机器人,仿真结果实现了该类非完整系统的运动规划。 |
| 关 键 词： | 多体系统 非完整约束 运动规划 最优控制 空间机器人 |
| 文章编号： | 1000-4750（2006）03-0063-06 |
| 收稿时间： | 2004-04-16 |
| 修稿时间： | 2004-04-162004-07-18 |
OPTIMAL CONTROL OF A NONHOLONOMIC MOTION PLANNING FOR MUTILBODY SYSTEMS |
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| GE Xin-sheng,CHEN Li-qun,LIU Yan-zhu.OPTIMAL CONTROL OF A NONHOLONOMIC MOTION PLANNING FOR MUTILBODY SYSTEMS[J].Engineering Mechanics,2006,23(3):63-68. | |
| Authors: | GE Xin-sheng CHEN Li-qun LIU Yan-zhu |
| Affiliation: | 1. Basic Science Department, Beijing Institute of Machinery, Beijing 100085, China; 2. Shanghai University, Shanghai Institute of Applied Mathematics and Mechanics, Shanghai 200072, China; 3. Department of Engineering Mechanics, Shanghai Jiaotong University, Shanghai 200030, China |
| Abstract: | Nonholonomicity arises in many mechanical systems subjected to nonintegrable velocity constraints or nonintegrable conservation laws. Due to nonholonomic constraints, the motion planning and control of a nonholonomic mutilbody system is much more difficult than that of a conventional system. Nonholonomic characteristic and controllable condition are investigated using the infinite dimension optimization and the control theory, regarding the system’s dissipation energy as a target function and considering the nonholonomic characteristic, a numerical method for the nonholonmic motion planning without drift is proposed. The effectiveness of the numerical algorithm is demonstrated by numerical simulation. |
| Keywords: | mutilbody system nonholonomic constraint motion planning optimal control space manipulator |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |