| 冗余自由度机器人的自运动控制和动态性能优化 |
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| 引用本文： | 赵占芳,施小伦,张启先,陆际联. 冗余自由度机器人的自运动控制和动态性能优化[J]. 北京理工大学学报(英文版), 1997, 6(2): 153-162 |
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| 作者姓名： | 赵占芳 施小伦 张启先 陆际联 |
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| 作者单位： | 北京理工大学机器人研究中心，香港中文大学机械工程系，北京航空航天大学机器人研究所 |
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| 摘 要： | 关节空间自运动可能出现失控是大部分冗余自由度机器人动力学优化算法都存在的问题。本文分析了产生此问题的原因，提出了解决问题的途径，在此基础上提出的两种算法不但能够处理此类问题，而已实现了关节速度模和关节刀矩的同时优化，即运动学和动力学指标的同时优化。
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| 关 键 词： | 机器人；冗余特性；自运动；动力学优化；零空间 |
Control of Self-Motion and Optimization of Dynamic Performance for Redundant Manipulators |
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| Zhao Zhanfang,Shi Xiaolun,Zhang Qixian and Lu Jilian. Control of Self-Motion and Optimization of Dynamic Performance for Redundant Manipulators[J]. Journal of Beijing Institute of Technology, 1997, 6(2): 153-162 |
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| Authors: | Zhao Zhanfang Shi Xiaolun Zhang Qixian Lu Jilian |
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| Affiliation: | Robotics Research Center, Beijing Institute of Technology, Beijing 100081;Department of Mechanical Engineering, The Chinese Unimsity of Hong Kong, Hong Kong;Robotics Research Institute, Beijing Unimsity of Aeronautics and Astronautics, Beijing 100083;Robotics Research Center, Beijing Institute of Technology, Beijing 100081 |
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| Abstract: | Problems arise when most existing algorithms of redundant robotic manipulators are used for the optimization of dynamic parameters. One of such problems is the uncontrolled self-motion in the joint space of the manipulator. This paper analyzes the reasons causing undesirable self-motion and presents two approaches which can be used to handle the problem Fectily. In addition, the methods can be used to the norm of joint velocities and optimize applied torque distribution and thus the dynamic performance of redundant robot ran be significantly improved. |
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| Keywords: | robots redundancy self-motion dynamic optimization null space |
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