摘要
进行了冗余度机器人动态最优化控制的研究。由于局部优化方法有一定的局限性 ,研究中采用了全局优化方法。基于全局优化的思想 ,提出了一种冗余度机器人的动态优化控制算法。由于控制算法在数值求解时的困难性 ,在算法中应用了神经网络 ,用其来逼近复杂的非线性函数 ,使问题求解得以简化。通过仿真验证 ,此控制算法能够获得良好的动态性能 ,运算速度快 。
The motion control for redundant robot is still the focal point for the researchers. In this paper, we investigate the problem about the dynamic optimal control of redundant robot in order to obtain good dynamic performance and track precision.A global optimal method is used due to the limitations of the local optimal on method.Based on the global optimization idea, the algorithm about the dynamic optimal control of redundant robot is presented. Owing to the difficulty for resolving the control algorithm,a neural network is used to approach the complex nonlinear function in the algorithm and then the resolution becomes simple. Simulation results verify the good dynamic performance, quick operation and the feasibility of engineering application about the control algorithm.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2001年第7期787-789,共3页
China Mechanical Engineering
基金
国家 8 6 3高技术研究发展计划资助项目 (86 3- 5 12-2 0- 0 7)
