| MODIFIED WEIGHTED GRADIENT PROJECTION METHOD AND RESEARCH TO THE KINEMATIC CONTROL OF REDUNDANT MANIPULATORS |
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| 作者姓名： | Chen Weihai Yang Zongxu Zhang Qixian |
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| 作者单位： | Chen Weihai; Yang Zongxu; Zhang Qixian(Institute for Robottes，Beijing University of Aeronautics and Astronautics，Beijing，China，100083)Zhao Zhanfang(Institute for Robotics Research，Beijing Institute of Technology，Beijing，China，100081) |
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| 摘 要： | ＭＯＤＩＦＩＥＤＷＥＩＧＨＴＥＤＧＲＡＤＩＥＮＴＰＲＯＪＥＣＴＩＯＮＭＥＴＨＯＤＡＮＤＲＥＳＥＡＲＣＨＴＯＴＨＥＫＩＮＥＭＡＴＩＣＣＯＮＴＲＯＬＯＦＲＥＤＵＮＤＡＮＴＭＡＮＩＰＵＬＡＴＯＲＳＣｈｅｎＷｅｉｈａｉ；ＹａｎｇＺｏｎｇｘｕ；ＺｈａｎｇＱｉｘ...
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MODIFIED WEIGHTED GRADIENT PROJECTION METHOD AND RESEARCH TO THE KINEMATIC CONTROL OF REDUNDANT MANIPULATORS |
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| Chen Weihai, Yang Zongxu, Zhang Qixian.MODIFIED WEIGHTED GRADIENT PROJECTION METHOD AND RESEARCH TO THE KINEMATIC CONTROL OF REDUNDANT MANIPULATORS[J].Chinese Journal of Aeronautics,1996(3). |
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| Authors: | Chen Weihai Yang Zongxu Zhang Qixian |
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| Abstract: | To raise the optimizing ability of the redundant manipulators, a modified weighted gradient projection method(MWGPM) to optimize kinematics is presented.Two new concepts, the matrix weightability measure(MWM) and the self-motion declinability measure(SMDM) are proposed. Thus the weighting ability of the weighting matrix and the self-motion amplitude decided by the homogeneous solution could be continuously regulated. MWGPM has the merits which belong to both the least-norm solution (WLN), and gradient projection method(GPM), and it can obtain ideal optimizing effects at low joint velocities, which has been verified by simulation. |
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| Keywords: | robots kinematics optimization control |
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