期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

基于扩展雅可比矩阵的冗余度机器人多性能准则优化研究 被引量：4

RESEARCH ON MULTIPLE PERFORMANCE CRITERIA OPTIMIZATION OF A REDUNDANT ROBOT BASED ON EXTENDED JACOBIAN MATRIX
下载PDF
导出
摘要 本文基于扩展雅可比矩阵求冗余机器人逆解的算法,提出了将多个附加作业性能函数作归一化处理后,根据优先权的高低进行加权求和,从而利用其冗余性完成多性能准则优化的一种新方法.并且对所研制的七自由度冗余手臂避奇异及避关节极限的的双重性能进行了优化仿真分析,根据分析结果,所优化的手臂关节向与关节极限相反的方向运动,并且雅可比矩阵的条件数得到了降低,从而证实了此种算法对单个冗余自由度优化多个性能准则的有效性.
作者 孙立宁 刘宇
出处 《机器人》 EI CSCD 北大核心 2003年第z1期589-592,597,共5页 Robot
关键词 扩展雅可比矩阵 多性能准则优化 避奇异 避关节极限
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献11

  • 1[2]Baillieul J. Kinematic programming alternatives for redundant manipulators[A]. IEEE Int. Conf. on Robotics and Automation [C].1985,2. 722 -728.
  • 2[3]Jonghoon P, Chung W K, Youm Y. Behaviors of extended Jacobian method for kinematic resolution of redundancy[A]. IEEE Int. Conf.on Robotics and Automation[C]. 1994,1.89 -95.
  • 3[4]Charles K, Caroline C-J, Shamim A. Use of an extended Jacobian method to map algorithmic singularities[A]. IEEE [C]. 1993. 632- 637.
  • 4[5]Baillieul J. A constraint oriented approach to inverse problems for kinematically reedundant manipulators[A] . IEEE Int. Conf. on Robotics and Automation[C]. 1987, 4. 1827 -1832.
  • 5[6]Nakamura Y, Hanafusa H, Yoshikawa T. Task-priority based redundancy control of robot manipulators[J]. Int J of RR, 1987,6 (2): 3-15.
  • 6陈伟海,杨宗煦,张启先,赵占芳.冗余度机器人多性能准则优化研究[J].北京航空航天大学学报,1996,22(4):484-489. 被引量：2
  • 7[8]Kevin Cleary, Delbert Tesar, Carol Cockrell. Incorporating multiple criteria in the operation of redundant manipulators [J]. IEEE Int Conf on Robotics and Automation, 1990, 1:618-624.
  • 8[9]Francois G Pin, Jean Christophe Culioli. Multi-criteria position and configuration optimization for redundant platform/manipulator systems[J].IEEE International Workshop on Intelligent robots and systems,1990, 1:103 -107.
  • 9[10]Jinhyun Kim, Giacomo Marani. Dynamic task priority approach to avoid kinematic singularity for autonomous manipulation [J]. IEEE Int Conf on Intelligent Robots and Systems, 2002, 2: 1942 - 1947.
  • 10[11]Dragomir N. Nenchev. Dynamic task-priority allocation for kinematically redundant robotic mechanisms [J]. IEEE Int Conf on Intelligent Robots and Systems, 1994, 1:518 -524.

二级参考文献2

  • 1Li L Y，IEEE Int Conf on R & A，1994年
  • 2Chan T F，IEEE Int Conf of R & A，1993年

共引文献1

同被引文献15

  • 1董春,杨耕,徐文立.七自由度冗余仿人臂的障碍实时回避[J].清华大学学报（自然科学版）,2004,44(10):1341-1344. 被引量：2
  • 2付西光,颜国正.7-DOF核工业机器人的轨迹规划与仿真[J].系统仿真学报,2005,17(8):1948-1950. 被引量：19
  • 3SHIMIZU M, KAKUYA H, YOON W K, et al. Analytical inverse kinematic computation for 7-DOF redundant manipu- lators with joint limits and its application to redundancy reso- lution[ J]. IEEE Transactions on Robotics, 2008, 24 ( 5 ) : 1131-1142.
  • 4DUBEY R V, EULER J A, BABCOCK S M. An efficient gradient projection optimization scheme for a seven-degree- of-freedom redundant robot with spherical wrist [ C ]// IEEE International Conference on Robotics and Automation. Phila- delphia, USA, 1988: 28-36.
  • 5GOLDENBERG A, BENHABIB B, FENTON R. A complete generalized solution to the inverse kinematics of robots [ J ]. IEEE Journal of Robotics and Automation, 1985, 1 ( 1 ) : 14-20.
  • 6MAO Z, HSIA T C. Obstacle avoidance inverse kinematics solution of redundant robots by neural networks [ J ]. Roboti- ca, 1997, 15(1):3-10.
  • 7YU C, JIN M, LIU H. An analytical solution for inverse ki- nematic of 7-DOF redundant manipulators with offset-wrist [ C]//Intemational Conference on Mechatronics and Auto- mation. Chengdu, China, 2012: 92-97.
  • 8KHATIB O. Real-time obstacle avoidance for manipulators and mobile robots[ J]. International Journal of Robotics Re- search, 1986, 5(1) : 90-98.
  • 9SICILIANO B. Kinematic control of redundant robot manipu- lators: a tutorial[ J]. Journal of Intelligent and Robotic Sys- tems, 1990, 3(3): 201-212.
  • 10DAS H, SLOTINE J E, SHERIDAN T B. Inverse kinematic algorithms for redundant systems [ C ]// IEEE International Conference on Robotics and Automation. Philadelphia, USA, 1988: 43-48.

引证文献4

二级引证文献10

机器人
2003年 第z1期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部