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线性矩阵不等式在并联机构中的应用

Appliations of Linear Matrix Imequalities in Parallel Manipulator
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摘要 线性矩阵不等式(LMI)是一种数学工具,常用来描述约束条件。将LMI应用于并联机构的分析与设计中,分别从奇异性,工作空间,灵巧度,刚度,最优控制等几个方面,用LMI来处理并联机构中的约束条件并以此为基础将并联机构的分析与设计以及控制问题转化为基于LMI的优化问题来解决。 Linear Matrix Inequalities(LMI)is a mathematical tool which is usually used to describe constraint conditions.The paper applies LMI into the analysis and design of parallel manipulator.The constraint of parallel manipulator are dealt with LMI in the aspects of singularities,workspace,dexterity,stiffness and optimal control respectively.The problems of analysis and design,also control are solved by means of converting them into an optimal problem of LMI-based.
作者 丛爽 张耀欣
机构地区 中国科学技术大学自动化系
出处 《机械设计与研究》 CSCD 北大核心 2005年第3期22-26,共5页 Machine Design And Research
基金 国家自然科学基金资助项目(50375148)
关键词 并联机构 LMI 奇异性 工作空间 灵巧度 刚度 最优控制 parallel manipulator LMI singularity workspace dexterity stiffness optimal control
分类号 TP241.3 [自动化与计算机技术—检测技术与自动化装置]
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参考文献19

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机械设计与研究
2005年 第3期

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