摘要
对冗余度机器人最小关节力矩的关节轨迹规划进行了研究，提出了一种具有变系数复合指标的关节轨迹规划方法。该方法利用关节力矩和关节加速度构成一总目标函数，并由变系数根据耐要自动地调整关节加速度项对总目标函数的影响程度，从而既降低了关节力矩的最大值又不使其平均值增加过多，提高了算法的全局稳定性。最后，本文还给出了一个平面３Ｒ机器人的仿真实例。
In this article,joint trajectory planning with minimal joint torques for redundant robots is studied.A method for joint trajectory planning which has multiple criteria with a variable weight factor is proposed.The method combines joint torques with joint accelerations to form a general objective function.Because the weight factor can change automatically to adjust joint acceleration′s influence on the general objective function,the method can not only reduce the maximum value of torques but also keep their average value at lower level.By this method,stable solutions with global characteristics can be obtained.Finally, a simulation example for a planar 3R redundant robot is presented.
出处
《机械科学与技术》
CSCD
北大核心
1997年第4期622-626,共5页
Mechanical Science and Technology for Aerospace Engineering
