摘要
以蒸汽发生器检修机械手的运动学求解为目的,提出了一种代数法和数值解法相结合的逆解方法,在保证解的精确性的同时对解进行了合理优化,使得求解过程快速准确.该机械手虽然是6自由度机械手,但由于其结构和工作性质的特殊性,使其具有冗余机械手的特性,因此其逆解变得更加复杂.提出了一种代数法和数值解法相结合的逆解方法,对于数值解法,文中给出了基于非单调信赖域算法的最优化问题求解方法,该方法不仅具有牛顿法的快速收敛性,又有理想的总体收敛特性,使求解过程更加顺利.
An inverse kinematic solution method for the manipulator used for nuclear reactor repairing is presented. The manipulator is a six-degrees-of-freedom manipulator, but for the particularity of the structure and the work of the manipulator, the inverse kinematic solution becomes a question of inverse solution for redundant manipulator. A method based on algebraic method and numerical method is brought forward according to the special structure of the manipulator, with which the problem can be solved accurately and rapidly. The non-monotonic trust region algorithm is used for the optimal question solution. This approach not only has the rapid convergence for Newton method, but also the desirable overall convergence, which makes the course of solution more convenient.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2007年第1期65-70,共6页
Journal of Harbin Engineering University
关键词
机械手
冗余
6自由度
代数法
非单调信赖域算法
Algorithms
Convergence of numerical methods
Degrees of freedom (mechanics)
Inverse kinematics
Nuclear reactors
Optimization
Repair
