摘要
就初位形对冗余度机器人轨迹规划算法效果的影响进行了研究。结果表明 ,最小力矩常常并不能给出所期望的最小控制力矩的主要原因在于初位形的选取不当 ,通过优选初位形可以解决这一问题。平面
In this paper, the influence of initial configuration on trajectory planning algorithms for redundant robots is studied. Results show that the principal reason that the minimal torque method don't provide the minimal control torques as desired is the improper selection for the initial configurations. This problem can be solved by optimizing initial configurations. Simulation examples for a planar 3R redundant robot are presented to validate this method.
出处
《机械科学与技术》
CSCD
北大核心
2000年第2期249-251,共3页
Mechanical Science and Technology for Aerospace Engineering
关键词
冗余度机器人
初位形
最小关节力矩
轨迹规划
Redundant robot
Initial configuration
Minimal joint torque
Trajectory planning
