机械手操作性能最优控制理论的线性化方法

LINEARATION APPROACH TOOPTIMAL CONTROL THEORY OFMANIPULATOR OPERATIONALPERFORMANCE

讨论了2R机械手运动能耗最小的最优控制及其最优轨迹规划问题,建立了该系统最优控制数学模型,采用线性化处理方法将非线性时变的系统变成近似线性系统,在考虑它们之间的耦合关系的基础上,使之可以用数值方法来求解,提高了计算的精度,对机械手操作性能的最优控制作了有益的探讨,为进一步用微分几何讨论该类问题打下了基础。

The energy programming approach to the optimal control and the trajectory planning of the 2R robotic manipulators are discussed, and the mathematical matrix to solve the optimal control is established. With considering the coincidence of the manipulators, the linearization method is adopted to turn the non-linear control system into the linear one, which can be solved by the traditional approach. The precision of computation can be improved and the content for optimal control of robotic manipulators can be deeply discussed, too. Underlying the methodology, the same problem using differential geometry can be solved easily.