提高柔性冗余度机器人动态性能的冗余关节运动规划方法

通过分析影响柔性机器人弹性动力响应的因素，得出了在结构参数不变的情况下可以通过适当调整关节运动参数来提高机器人动态性能的结论。对柔性冗余度机器人关节运动的冗余特征进行了研究。在此基础上，构造出以冗余关节角为状态变量的优化控制结构，得出一种新的柔性冗余度机器人优化控制方法，该方法使各关节的运动简单易控、保证各关节的运动不越限，消除了机器人的终态自运动。

Redundant Joints' Motion Planning Method for Improving Flexible Redundant Manipulators Dynamic Performance

Firstly, the factors which influence a flexible manipulator's elastic dynamic responses were analyzed and a conclusion was drawn that a flexible manipulator's dynamic performance could be improved through adjusting its joint kinetic parameters properly while maintaining its structural parameters unchanged. Then the redundant characteristics of a flexible redundant manipulator's joints motion were studied. On this basis, a control structure where the redundant joint angles can be used as its state variables was constructed, whereby a new optimal control method for flexible redundant manipulators was gained. Using this method, every joint's motion of a flexible redundant manipulator is not only simple and easily controlled, but also does not exceed its limit. Furthermore the manipulator's end state self-motion can be effectively eliminated as well. Therefore, this method can be easily used in the industrial practices.