利用二次优化实现柔性冗余度机器人关节力矩最小化研究

对基于振动抑制的柔性冗余度机器人关节力矩的最小化进行了研究。通过分析影响柔性机器人弹性动力响应的因素,得出了在结构参数不变的情况下可以通过适当调整关节运动参数来提高机器人动态性能的结论。在此基础上,通过对柔性冗余度机器人的关节运动进行研究,提出了通过自运动的适当选取从而抑制机器人柔性振动的方法。通过对满足抑振要求的自运动的选取进行分析,指出柔性冗余度机器人在实现振动抑制的基础上还具有二次优化的能力,并且利用这种二次优化的能力得出了基于振动抑制的最小化关节力矩的方法。数值仿真验证了该方法的有效性。

Study on Joint-Torque Minimization for the Flexible Redundant Manipulator via Its Second Optimization Capability

Minimizing joint-torques of a flexible redundant manipulator based on vibration suppression is researched. The factors which influence a flexible manipulator's elastic dynamic responses are analyzed and a conclusion is drawn that a flexible manipulator's dynamic performance can be improved by adjusting its joint kinetic parameters properly while its structural parameters remain unchanged. On this basis, by studying a flexible redundant manipulator's joints motion, a method is presented for suppressing vibration of a flexible redundant manipulator by correctly choosing its self-motions. Then how to choose the self-motions which meet the need of suppressing vibration is analyzed, and it is found that a flexible redundant manipulator still has the second optimization capability on the basis of its vibration which has been reduced. A method is proposed for minimizing joint-torques of a flexible redundant manipulator based on vibration suppression by (utilizing) this second optimization capability. The results of some numerical simulations verify the effectiveness of this proposed method.