摘要
冗余度机器人由于具有冗余自由度 ,能较好的实现避奇异、避障碍物、避关节范围越限等性能 ,使得该类机器人的操作性和灵活性得到了提高 .以梯度投影法为基础 ,采用线性加权法 ,研究冗余度机器人的多指标融合优化问题 ,最后给出了仿真结果 .
Redundant robots can easily achieve capabilities such as avoiding the singularity position and orientation, avoiding obstacle and avoiding the movement of joints surpassing the range because the flexibility of this kind of robot is highly improved. Based on the projection grads method, multi-index amalgamation optimization of redundant robot is researched through the weighted linear method. Finally, the emulation validates the above method.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2004年第S1期71-73,共3页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
关键词
冗余度机器人
梯度投影法
多指标融合
线性加权法
redundant robot
projection grads
multi-index amalgamation
weighted linear method
