| 回避障碍和关节极限二元准则的冗余度机器人运动学逆解研究 |
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| 引用本文： | 吴伟国,邓喜君,蔡鹤皋.回避障碍和关节极限二元准则的冗余度机器人运动学逆解研究[J].哈尔滨工业大学学报,1997(1). |
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| 作者姓名： | 吴伟国 邓喜君 蔡鹤皋 |
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| 作者单位： | 机械工程系，机器人研究所 |
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| 摘 要： | 为解决梯度投影法求解回避障碍和关节极限下运动学逆解过于严格优化反而限制运动灵活性的问题，首先通过障碍边界约束化建立了通用多边窗口障碍回避作业准则。并根据作业函数对关节角导数的正负变号情况分别定义加权系数，进而引入较为合理的加权系数矩阵，得到了回避障碍和关节极限二元准则下冗余度机器人运动学的加权最小二乘逆解方法。
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| 关 键 词： | 冗余度机器人，运动学逆解，障碍回避 |
A Inverse Solution Study for the Duality Criteria of AvoidingObstacle and Joint Limits in Kinemtics of Redundant Robot |
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| Wu Weiguo Deng xijun Cai Hegao.A Inverse Solution Study for the Duality Criteria of AvoidingObstacle and Joint Limits in Kinemtics of Redundant Robot[J].Journal of Harbin Institute of Technology,1997(1). |
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| Authors: | Wu Weiguo Deng xijun Cai Hegao |
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| Affiliation: | Wu Weiguo Deng xijun Cai Hegao (Dept. of Mechanical Engineering) (Robot Researcb lastitute) |
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| Abstract: | Tbis paper researcbes and inquires into the theoretical pmblem of inverse kineraatics in tbe multiple criteria operation of redundant robot. The established metbod of tbe optimization of . criteria function for avoiding window obstacle ia tbe universal operation is preseated, on the basis of the general probleza of the optimization of kinematies for tbe avoiding obstacle and joint limits. A weighted lastsquares solution of inverse kinematia on tbe duality criterioct of tbem was made further production. Finally the paper inquired into the optimdzation pmblem of inverse solution for kinematics of redundant robot in the multiple criteria operation. Tbis . paper might be of significance fbr kinematics and the practical study of redundant robot. |
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| Keywords: | Redundant robot inverse solution of kinematics avoiding obstacle |
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