| 冗余度机器人运动学模糊优化 |
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| 引用本文： | 郭大忠,柳洪义.冗余度机器人运动学模糊优化[J].组合机床与自动化加工技术,2006(6):32-33,37. |
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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,机械工程与自动化学院,沈阳,110004 |
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| 摘 要： | 冗余度机器人由于具有冗余自由度,可以在运动学上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能得到了提高.文章采用多目标模糊优化方法,建立了冗余度机器人运动学的多目标模糊优化的数学模型,构造了模糊优越集,从而求解出多目标函数在可行域空间的最优解,最后经过仿真验证了该方法的可行性.
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| 关 键 词： | 冗余度机器人 多目标优化 模糊优化 |
| 文章编号： | 1001-2265（2006）06-0032-02 |
| 收稿时间： | 2005-12-01 |
| 修稿时间： | 2005-12-012006-01-12 |
Fuzzy Optimization for Redundant Robot Kinematics |
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| GUO Da-zhong,LIU Hong-yi.Fuzzy Optimization for Redundant Robot Kinematics[J].Modular Machine Tool & Automatic Manufacturing Technique,2006(6):32-33,37. |
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| Authors: | GUO Da-zhong LIU Hong-yi |
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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 range because the flexibility of this kind of robot is highly improved. In this paper fuzzy multi-objective optimization is used, a mathematical model of multi-objective fuzzy optimization for redundant robot kinematics is established. A fuzzy goal anthology of is constructed, and the optimal solution of multi-objective function in the feasible field is found. Computer simulation shows that the algorithm has good feasibility. |
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| Keywords: | redundant robot multi-obojec-tive optimization fuzzy optimization |
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