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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.
By weighted combination of the minimum speed norm scheme and the minimum acceleration norm scheme, a kind of optimization scheme based on the pseudo-inverse is studied and discussed to realize the motion control of the redundant manipulator.The optimization scheme can realize the joint speed norm and joint Acceleration norm while minimizing this optimization.In addition, this optimization not only avoids the phenomenon of joint velocity and joint acceleration is too high, but also makes the joint velocity of the robot at the end of motion near zero.Comparison of the computer simulation results further validation The proposed control strategy is effective and feasible.