冗余度四面体变几何桁架机器人的动力学规划

对冗余度机器人的运动学和动力学优化问题分别进行了分析，建立了运动学和动力学综合优化的逆动力学方程；解决了关节速度最小范数和最小关节力矩解之间的矛盾，从而在运动中避免了关节运动速度超限，克服了在末端运动结束后机器人关节的自运动问题。

The Dynamic Planning of Redundant Tetrahedron Variable Geometry Truss Manipulators

The kinematic and dynamic optimum problems for redundant variable geometry truss manipulators are investigated in this paper. The equations of inverse dynamics are established under consideration of the optimization of kinematics and dynamics. The contradictory problem between minimum joint velocity norm and minimum joint moment is solved. Thus it can avoid to exceed speed limit for joints in movement, and guarantee that the selfmotion of joints comes to rest when the endeffector of a manipulator moves to end. The simulation calculation of dynamic planning for a four celled tetrahedron variable geometry truss manipulator is performed. The simulation results indicate that the equations of inverse dynamics play a greater role in optimization of joint velocities and joint moments.