摘要
对冗余度机器人的运动学和动力学优化问题进行了比较研究，发展和完善了出休斯敦（Ｈｕｓｔｏｎ）提出的冗余多体系统动力学优化的咱然动力学解”的概念，并扩展其物理意义．同时，本文还给出了一些具体的优化结果．
This paper presents a comparctive study of kinematic and dynamicoptimization for redundant manipulators. The concept of ' natural dynamics solution' proposed by Huston was improved and enlarged, and its physical meaning was expounded. Some optimal results were given.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
1994年第1期113-117,共5页
Journal of Harbin Institute of Technology
关键词
冗余度机器人
动力学
运动学
Redundant manipulators
op timal function
optimizatio n natural
dynamics solution
