| 用分离空间法解决冗余度机器人的最优规划 |
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| 引用本文： | 吉爱国 冯汝鹏. 用分离空间法解决冗余度机器人的最优规划[J]. 哈尔滨工业大学学报, 1996, 28(5): 86-90 |
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| 作者姓名： | 吉爱国 冯汝鹏 |
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| 摘 要： | 通过对冗余度机器人运动学的研究，提出了用分离空间法解决冗余度机器人的最优规划问题。将雅可比矩阵分为基本部分和次要部分，相应地描述机器人运动状态的物理量也分成两部分。在此基础上进行轨迹规划，回避对雅比矩阵伪逆的直接求解。
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| 关 键 词： | 冗余度机器人 最优规划 机器人 分离空间法 |
The Separating Space Approach Applied to the Optimal Path of a Redundant Robot |
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| Ji Aiguo, Feng Rupeng ,Guo Wei, Zhang Jinjiang. The Separating Space Approach Applied to the Optimal Path of a Redundant Robot[J]. Journal of Harbin Institute of Technology, 1996, 28(5): 86-90 |
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| Authors: | Ji Aiguo Feng Rupeng Guo Wei Zhang Jinjiang |
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| Affiliation: | Dept. of Control Engineering |
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| Abstract: | new method which is called the separating space approach is proposed in this paper and applied to make an optimal path of a redundant robot. The Jacobian matrix of the redundant robot is separated into two parts: the primary part and the secondary part. Using this method to find an optimal path of a redundant robot can be determined without calculating the pseudoinverse of the Jacobian matrix. |
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| Keywords: | Redundant robot inverse kinematics Jacobian matrix |
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