| OPTIMAL CONTROL OF REDUNDANT ROBOTS WITH LOCAL DEGREES OF FREEDOM |
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| 作者姓名： | Li Luya Zhang Qixian Yang Zongxu |
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| 作者单位： | Li Luya; Zhang Qixian; Yang Zongxu(Research Institute of Robotics，Beijing University of Aeronauticsand Astronautics，Beijing，100083，China)William A. Gruver(Simon Fraser University，Burnaby，B. C. Canada，V5A 1S6) |
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| 摘 要： | SupportedbytheNationalNaturalScienceFoundationofChinaRedundantrobotsprovideflexibilityinavarietyoftasks.Methedsusedtodevelopthere-dundancycontrolarewellknown1~4J-Inthesemethods,kinematicflexibilityisensuredwhiledynamicperformanceisbeingimproved.Itisverydifficult,however,toimplementoptimalredundancycontrolthatsimultaneouslyincludesbothkinematicsanddynamics(dual-optimiza-tion)forrobotmechanismsthathavebeenpreviouslydeveloped.Inthefollowingsections,aredundantrobotmechanismhavinglocaldegreesof…
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OPTIMAL CONTROL OF REDUNDANT ROBOTS WITH LOCAL DEGREES OF FREEDOM |
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| Li Luya, Zhang Qixian, Yang Zongxu.OPTIMAL CONTROL OF REDUNDANT ROBOTS WITH LOCAL DEGREES OF FREEDOM[J].Chinese Journal of Aeronautics,1997(1). |
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| Authors: | Li Luya Zhang Qixian Yang Zongxu |
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| Abstract: | A kinematically redundant robot, with more degrees of freedom than re-quired to complete a desired task, can be usefu1 because of its inherent kinematics flexibili-ty and dynamic performance. lt is very difficu1t, however, to implement optimal redun-dancy control, while simultaneously taking into account hath kinematics and dynamics.To realize dua1-optimization control, a new redundant robot mechanism with local degreesof freedom is introduced, and its kinematics and dynamics features are investigated. Simu-lation results demonstrate the effectiveness of the proPosed method. |
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| Keywords: | redundancy robots kinematics robot dynamics optimal control |
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