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| 基于新型性能指标的冗余度机械臂重复运动规划之方案分析与验证 | |
| 引用本文： | 张雨浓,郭东生,蔡炳煌,易称福. 基于新型性能指标的冗余度机械臂重复运动规划之方案分析与验证[J]. 武汉理工大学学报(交通科学与工程版), 2011, 35(1). DOI: 10.3963/j.issn.1006-2823.2011.01.016 |
| 作者姓名： | 张雨浓 郭东生 蔡炳煌 易称福 |
| 作者单位： | 中山大学信息科学与技术学院,广州,510006 |
| 基金项目： | 国家自然科学基金项目资助(批准号:60775050) |
| 摘 要： | 为解决冗余度机器人手臂在运动过程中出现的关节角偏差问题,探讨与分析了一种基于新型性能指标的二次型优化模型,以使机械臂的关节能实现重复运动.在考虑各种关节物理极限(如关节角度极限和关节速度极限)的情况下,该模型最终被转化为一个标准的二次型优化问题来求解.同时,基于负梯度法的原理分析和基于PUMA560的平面四连杆机械臂的计算机仿真结果表明,该方案具有可行性和有效性. |
| 关 键 词： | 冗余度机械臂 新型性能指标 重复运动规划 二次型优化 |
Analysis and Verification on Repetitive Motion Planning Scheme of Redundant Manipulators Using New Performance Index |
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| Zhang Yunong,Guo Dongsheng,Cai Binghuang,Yi Chenfu. Analysis and Verification on Repetitive Motion Planning Scheme of Redundant Manipulators Using New Performance Index[J]. journal of wuhan university of technology(transportation science&engineering), 2011, 35(1). DOI: 10.3963/j.issn.1006-2823.2011.01.016 | |
| Authors: | Zhang Yunong Guo Dongsheng Cai Binghuang Yi Chenfu |
| Affiliation: | Zhang Yunong Guo Dongsheng Cai Binghuang Yi Chenfu(School of Information Science and Technology,Sun Yat-Sen University,Guangzhou 510006,China) |
| Abstract: | To remedy the joint-angle-drift phenomenon,a quadratic programming(QP) scheme based on a new performance index was investigated and analyzed for repetitive motion planning of redundant manipulators.When considering joint physical limits(such as,joint variable limits and joint velocity limits),such a scheme could be reformulated as a standard QP problem.Theoretical analysis based on the negative gradient method and computer-simulation results based on PUMA560 and four-link planar robot manipulators have subs... |
| Keywords: | redundant manipulators new performance index repetitive motion planning quadratic programming(QP) |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |