解决运动学和动力学性能优化的对耦空间法

绝大多数冗余自由度机器人的动力学优化算法都没能合理地处理诸如避障碍物、避奇异位形和关节运动极限等运动学优化问题。本文提出了在机器人雅可比矩阵对耦空间上处理此问题的新思路。基于此思路所提出的优化算法把机器人的运动学优化限制在雅可比矩阵张成的空间进行，而一些动力学性能指标如对关节力矩的优化可在雅可比矩阵的零空间上进行，计算机仿真表明，本文提出的算法，在用于处理运动学和动力学性能的同时优化方面非常有效。

A Dual-Space Approach for Optimization of Dynamic and Kinematic Performance of Redundant Manipulators

One of the problems in most existing algorithms for optimizing dynamic parameters of redundant robotic manipulator; is the inadequate consideration of redundancy-related kine-matics, such as avoidance of obstacle, singular configuration and the joint motion limits. This paper introduces a method based on the concept of dual-space of the Jacobian matrix to resolve the problem. Based on the method, lcinematic parameters can be optimized in the lacobian space with a higher priority. In the time, dynamic optimization such as optimization of applied torque distribution can be achieved by adjusting joint movement in the null space of the Jacobian matrix. Implementation through computer simulation demonstrates that the proposed methods are efFective and can be used to optimize simultaneously both the lcinematir and dynamic narametecs of redundant manipulator.