摘要
利用基于均衡比例因子梯度投影算法对用于某自行火炮炮塔内弹丸装填的155HP－1七自由度机器人进行了装填作业的数值仿真计算、并与采用固定比例因子的梯度投影法得出的结果进行了比较。指出了利用后法的两个弊端：寻求可行的比例因子的计算量大，不易获得满意的结果；当操作机末端速度为零时，不能保证关节速度为零。而前法则克服了这些缺陷，并验证了该法是有效可行的，避免了寻求可行比例因子的繁杂计算。
Numerical experdrients carried out on the pick/place task for a 7 DOF robot 155HP-1 used to pick and place bullets in the turret tower, is analyzed in the paper using the gradient projection method based. on balanced factors, and the results compared with those obtained from methods based on fixed factors. It is seen that there are two defects for the method based on fixed factors viz.: 1) its calculation in seeking for the feasible factor is cumbersome, and it is difficult to obtain satisfactory results;2) the Joint velocity of the manipulator is not necessarily null when the end-effectors'velocity of the robot is zero. It is shown that the gradient projection method based on balanced factors can overcome such defects and the complex calculations in seeking for the feasibility factor can be avoided. The proposed method is seen to be effective and versatile in use.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
1997年第4期342-346,共5页
Acta Armamentarii
基金
中国博士后科学基金
关键词
冗余度
机器人
比例因子
仿真
梯度投影
kinematic redundancy, robot, scalar factor, simulation, gradient projection
