| 冗余度机器人多目标模糊规划的研究 |
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| 引用本文： | 郭大忠,柳洪义. 冗余度机器人多目标模糊规划的研究[J]. 机械与电子, 2006, 0(5): 42-44 |
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| 作者姓名： | 郭大忠 柳洪义 |
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| 作者单位： | 东北大学,辽宁,沈阳,110004 |
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| 摘 要： | 利用冗余度机器人的冗余特性可以实现机器人避奇异位形，仿止关节运动范围越限，避障碍物等多种优化，从而使该类机器人的操作性能和灵活性得到提高。采用多目标模糊规划对冗余度机器人的多目标优化进行研究，并提出优化方法，仿真验证了该方法具有可行性。
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| 关 键 词： | 冗余度机器人 多目标优化 模糊规划 |
| 文章编号： | 1001-2257（2006）05-0042-03 |
| 收稿时间： | 2005-12-27 |
| 修稿时间： | 2005-12-27 |
Research on Fuzzy Multi-objective Optimization for Redundant Robots |
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| GUO Da-zhong,LIU Hong-yi. Research on Fuzzy Multi-objective Optimization for Redundant Robots[J]. Machinery & Electronics, 2006, 0(5): 42-44 |
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| Authors: | GUO Da-zhong LIU Hong-yi |
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| Affiliation: | Northeastern University,Shenyang 110004,China |
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| Abstract: | Redundant robots can easily achieve capabilities such as avoiding the singularity position and orientation, avoiding obstacle and avoiding the motion of joints surpassing the rang because the flexibility of this kind of robot is highly improved. In this paper fuzzy multi - objective optimization is used to study multi - objective optimization of redundant robots, and a optimal method is proposed. Computer simulation shows that the algorithm has good feasibility. |
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| Keywords: | redundant robot multi - obojective optimization fuzzy programming |
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