摘要
通过将最小速度范数方案和最小加速度范数方案进行加权组合,研究和探讨一种基于伪逆的优化方案来实现对冗余机械臂的运动控制.该优化方案可以实现关节速度范数和关节加速度范数的同时最小化.另外,这样的优化方案不仅能够避免关节速度和关节加速度过高的现象,而且使得机械臂的关节速度在运动末态时接近零.对比性的计算机仿真结果进一步验证所提出的优化控制方案的有效性和可行性.
On the basis of weighted combination of the minimum velocity norm （MVN） scheme and the minimum acceleration norm （MAN） scheme, a pseudoinverse-based optimization scheme for motion control of redundant robot manipulators is proposed and investigated. Such an optimization scheme can achieve the minimization of joint-velocity norm and joint- acceleration norm at the same time. Besides, the proposed optimization scheme can not only avoid the high joint-velocity and joint-acceleration phenomena, but also make the joint velocity of the robot manipulator to be near zero at the end of motion. Comparative computer-simulation results further verify the effectiveness and the feasibility of the proposed optimal control scheme.
出处
《信息与控制》
CSCD
北大核心
2013年第5期645-651,656,共8页
Information and Control
基金
国家自然科学基金资助项目(61102089)
湖南省教育厅科研基金资助项目(11B102
13C757)
关键词
伪逆
优化
冗余机械臂
运动控制
加权组合
pseudoinverse
optimization
redundant robot manipulator
motion control
weighted combination
