摘要
指出了冗余自由度机器人优化的多种性能指标及其加权综合指标对单个关节的关节加速度具有二次抛物线关系。由此，提出一种通过对抛物线插值寻求综合性能最优解的方法。同时，本文还将冗余自由度机器人运动学和动力学求优化解的过程，转化为非冗余自由度机器人运动学和动力学求解，以便直接利用各种高效率的非冗余自由度机器人计算方法。
In this paper it is drawn that the multiple criteria for redundant robots bear a quadratic relationship to the joint accelerations.Then a new simple optimization method based on parabolic interpolation is discussed.It can solve a variety of optimal problems of kinematics,dynamics etc.for redundant robots in an unified pattern.Meanwhile,it can transform the kinematics and dynamics calculation of reduntant robots into that of non redundant robots.Then many efficient calculation methods for non redundant robots can be used in this method.
出处
《机械设计与研究》
EI
CSCD
北大核心
1998年第3期27-28,共2页
Machine Design And Research
