摘要
为解决冗余自由度机器人的运动学实时控制问题，给出了冗余自由度机器人运动学速度级的解析解。针对机器人系统振动及多性能指标融合控制，提出了＂运动可优化度＂的概念，并引入了运动可优化度函数。仿真和实践结果证明了这一新的控制方案的有效性。
In order to solve the real-time control problem of kinematics for redundant robots, an analytical solution at joint velocity level for redundant robots is described. To counter the avoidance of the system oscillation and the control of incorporating multiple criteria, a new concept, the motion optimizability measure (MOM), is proposed, and the MOM function is developed. Resulfs of the simulation is presented lo demonstrate the effectiveness of the control scheme.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
1994年第6期93-100,共8页
Journal of Mechanical Engineering
基金
国家教委博士点基金
"863"智能机器人控制理论与方法实验室基金
