摘要
本文提出了机器人操作手的时间-能量综合最优的问题,并对综合最优解的存在性问题进行了探讨,建立了两个关节操作手的动态方程,对于高度非线性和强互耦性的机械手动力学模型,利用微分方程的延展定理和闭集定理,给出了对机械手时间-能量综合最优解存在性的详细证明.
This paper is concerned with a time-fuel optimal control problem of the robotic manipulator.The existence of the optimal time-fuel control solution is discussed, and the dynamical equations of two joints manipul-ators are obtained.A detail proof of the existance of the time-fuel opti-mal control solution is given with the closed sets theorem and the exten-sion theorem for a highly nonlinear and compling dynamical model.
关键词
机器人
操作手
最优控制
robotic manipulator
optimal control
differential equation
closed set theorem
extension theorem/robotics
manipulators
