摘要
奇异位形是机器人的固有性质,它对机器人的工作性能有着种种影响,因此对于确定的机构,对其进行奇异位形的判断具有重要的意义.以哈尔滨工程大学自行研制的潜器全方位推进器为研究对象,采用Jacobian行列式det(J)为操作对象的方法,对潜器全方位推进器进行奇异位形分析.通过计算det(J)的解来判断在所要求的工作空间内,潜器全方位推进器是否会发生奇异位形.同时,利用遗传算法能以较小代价解决搜索与优化问题的特点,对det(J)的极值求解进行了优化,仿真结果表明该方法既方便又可靠,为潜器全方位推进器的深入研究奠定了基础.
Configuration singularity is the inherent nature of robot, which has all sorts of influences on the robot operating performance. Therefore, regarding the definite organization, it has a vital significance to carry on the configuration singularity analysis to it. A new analysis method has been used in the configuration singularity analysis of the Variable Vector Propeller （VVP）, which using Jacobian determinant det（J） as the operation object. By calculating the solution of det（J） to judge whether the VVP has configuration singularities or not within the working space. Meanwhile, the extreme result of det（J） is optimized by the Genetic Algorithm （GA） which has the features of resolving search and optimization with low cost. Simulation results show that this method is convenient and reliable, laying the foundation for the further research of variable vector propeller.
出处
《船舶工程》
CSCD
北大核心
2008年第5期20-22,26,共4页
Ship Engineering
关键词
潜器全方位推进器
奇异位形
遗传算法
JACOBIAN
variable vector propeller
configuration singularity
genetic algorithm （GA）
Jacobian determinant
