摘要
以牛顿—欧拉算法为基础 ,建立适合于双臂机器人协调运动的在线控制算法 ,该算法包括三个部分 ,一是在线运动学正向递推算法 ,二是在线载荷优化算法 ,三是在线逆动力学反向递推算法。不仅给出相应运动学及动力学递推计算公式 ,而且以载荷的最小范数为目标函数 ,实现载荷的优化分配 ,使在线控制算法更具应用价值。最后通过算例验证算法的可行性。
In this paper, based on the Newton-Euler recursion algorithm, on-line control algorithm is developed which can be used for the real-time control of dual-arm robot. This algorithm includes three sections, one is the on-line control algorithm of kinematics positive recursion, the second is the algorithm of load optimization, and the third is the on-line control algorithm of inverse dynamics negative recursion. The recursive computation formulas of kinematics and dynamics is given, the optimization of load distribution is achieved with the least-norm of load as a objective function.
出处
《机械科学与技术》
CSCD
北大核心
2002年第4期579-581,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
河南省科委自然科学基金项目 ( 96 40 72 2 0 0 )
河南省青年教师项目资助
河南省高校骨干教师资助项目
