| 利用Kuhn-Tucker定理求解多机器人作用下物体内力极小值 |
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| 引用本文： | 黄琦,郑弋邦,李志弘. 利用Kuhn-Tucker定理求解多机器人作用下物体内力极小值[J]. 中国机械工程, 2007, 18(11): 1289-1293 |
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| 作者姓名： | 黄琦 郑弋邦 李志弘 |
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| 作者单位： | 1. 浙江大学,杭州,310027
2. 韩国忠南大学,大田市,305-704 |
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| 基金项目： | 浙江省自然科学基金;中国博士后科学基金;韩国科学财团地方大学优秀科学工作者资助项目 |
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| 摘 要： | 利用Kuhn-Tucker定理可转化极值问题复杂约束条件的特性,提出了一种求解多机器人作用下物体内力极小值的方法。考虑两个机器人作用下的情况,以两种不同类型的二维物体为例,验证了该方法的正确性。对于其他复杂情况,该方法亦适用。
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| 关 键 词： | Kuhn-Tucker定理 内力 局部极小值 全局极小值 正定矩阵 |
| 文章编号： | 1004-132X（2007）11-1289-05 |
| 修稿时间： | 2005-09-23 |
Calculation of the Minimizing Internal Forces in Multiple Robot Manipulating Systems Based on Kuhn-Tucker Theorem |
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| Huang Qi,Zheng Yibang,Lee Jihong. Calculation of the Minimizing Internal Forces in Multiple Robot Manipulating Systems Based on Kuhn-Tucker Theorem[J]. China Mechanical Engineering, 2007, 18(11): 1289-1293 |
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| Authors: | Huang Qi Zheng Yibang Lee Jihong |
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| Affiliation: | 1. Zhejiang University, Hangzhou, 310027 2. Chungnam National University, Taejon,Korean |
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| Abstract: | One computing method of the minimizing internal forces in multiple robot manipulating systems based on the Kuhn-Tucker theorem was proposed because the Kuhn-Tucker theorem can transform the complex restricted conditions of the minimizing extremism problem. Taking two different kind of objects and two robots as example, the effectiveness of this method is verified. Furthermore, this method can be applied to other complicated conditions. |
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| Keywords: | Kuhn- Tucker theorem internal force local minimizing force global minimizing force positive definite matrix |
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