| 冗余度机器人扩展雅克比方法的应用研究 |
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| 引用本文： | 谢宗武. 冗余度机器人扩展雅克比方法的应用研究[J]. 哈尔滨工业大学学报, 2009, 41(5) |
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| 作者姓名： | 谢宗武 |
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| 作者单位： | 哈尔滨工业大学 |
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| 摘 要： | 采用基于所提出的连续比例因子的梯度投影法，利用模糊推理规则动态求解了多性能指标融合中的权系数，对卫星在轨自维护系统的冗余度机器人推拉帆板作业进行了数值仿真计算。所得到的结果与采用固定比例因子的梯度投影法进行了比较，指出了采用固定比例因子方法的不足之处。实验结果验证了所提出的连续比例因子方法的可行性，为冗余自由度机器人的逆运动学解法提供了新思路。
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| 关 键 词： | 连续比例因子，模糊推理，冗余度机器人，逆运动学解法 |
| 修稿时间： | 2008-04-07 |
Application of Gradient Projection Method Based on Multiple Performance Criteria Optimization |
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| xie zong wu. Application of Gradient Projection Method Based on Multiple Performance Criteria Optimization[J]. Journal of Harbin Institute of Technology, 2009, 41(5) |
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| Authors: | xie zong wu |
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| Affiliation: | Harbin Institute of Technology |
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| Abstract: | Adopts the Gradient Projection Method(GPM) based on Continuous Scale Factor(CSF) proposed in the paper, obtains the weight factors of multiple performance criteria based on Fuzzy inference system(FIS), carries out the numerical experiments on the pushing solar array task of the Satellite On-Orbit Self-Servicing(SOOSS). The results were compared with the results based on fixed scale factors, the shortcoming of the latter was pointed. The feasibility of the proposed continuous scale factor has been verified by the experimental results, thus provides a new thought for the Inverse Kinematics Solution(IKS) of redundant manipulator. |
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| Keywords: | Continuous scale factor Fuzzy inference Redundant manipulator Inverse kinematics solution |
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