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冗余度柔性空间机器人的最优关节初始位形 被引量：6

The Optimal Initial Joint Configu ration of Redundant Flexible Spatial Manipulators
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摘要 在机器人实现预定轨迹的条件下，利用机器人的冗余度，优化机器人的关节初始位形，降低柔性机器人运动过程中由于弹性变形引起的运动误差。给出了一空间４ Ｒ 机器人的数值算列，数值模拟结果表明了这一方法的正确性。 The elastic deformation errors of a flexible manipulator is eliminated by the way of optimizing its initial joint configuration in its motion. The numerical simulation of a 4R spatial manipulator shows the effectiveness of such a simple method.
作者 张绪平 余跃庆
机构地区 北京工业大学
出处 《机械科学与技术》 CSCD 北大核心 1999年第5期692-694,共3页 Mechanical Science and Technology for Aerospace Engineering
关键词 冗余度 初始位形 柔性 空间机器人 机器人 Redundancy Initial joint configuration Flexiblity Spatial manipulator
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献1

二级参考文献8

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共引文献15

同被引文献18

  • 1王东,王国伦.汉字的创意设计[J].装饰,2004(6):4-4. 被引量：11
  • 2胡寿松.自动控制原理[M].北京：国防工业出版社,2000..
  • 3Bayo E, Paden B. On trajectory generation for flexible robots[J ]. Journal of Robotic Systems, 1987, 4 (2) :229 - 235.
  • 4Nguyen L A, Walker I D, Defigueiredo R. Dynamic control of flexible Kinematic,ally Redundant Robot Manipulators [ J ]. IEEE Transactions on Robotics and Automation, 1992,8 ( 6 ) : 759 -767.
  • 5张策，黄永强．弹性连杆机构的分析与设计[M]．北京：机械工业出版社，1996．
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  • 7H.Asada, Z.Ma, H.Tokumaru. Inverse Dynamics of Fle-xible Robot Arms: Modeling and Computation for Trajectory Control[J]. J. Dynamic Systems, Measurement, and Control, 1990, 112: 177～185
  • 8N.Singer, W.Seering. Using Acausal Shaping Techniques to Reduce Robot Vibration[A]. Int. Conf. On Robotics and Automation[C]. IEEE 1988, 1434～1439
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引证文献6

二级引证文献10

机械科学与技术
1999年 第5期

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