冗余多体系统优化目标函数的研究

Research on Object Functions of Optimization for Redundant Multi-Body Systems

基于控制论的观点,对冗余多体系统进行分析,提出以正交补矩阵表示冗余多体系统的运动学通解。在此基础上,总结了已有的冗余多体系统优化目标函数,使其表达方便,意义明确.本文还首次分析研究了“自然动力学解”的局部和全局型优化目标函数,进一步丰富和发展了冗余多体系统的理论,揭示了冗余与非冗余多体系统的内在联系,并使运用一般多体系统动力学程序求解冗余多体系统的动力学成为可能。

Based upon control theory,redundant Multi-Body System is analyzed,and orthogonal complement matrix is used to the general solution of redundant Multi-Body System.The main object functions of redundant Multi-Body System are outlined such askinematic optimization,dynamic optimization and impedement avoidance etc.Theknown object functions for optimization are listed with their physical meaning re-vealed.The natural dynamic solution has an obvious meaning of optimization with itsoptimization functions derived from the paper so as for the inner relationship of redun-dant and nonredundant Multi-Body Systems to be brought in light and makesthe optimal calculation by using the ready-made program of dynamics of Mul-ti-Body system possible.