冗余度机械手逆运动学解中具有双重功能的评价函数

A Value Function with Double Functions in the Solution of Inverse Kinemtics for Redundant Manipulators

根据梯度投影法得出了冗余度机械手逆运动学的表达式，构造了一个使机械手能同时完成两个任务─—克服奇异性和避障具有双重功能的评价函数。利用这一评价函数对平面三自由度冗余度机械手进行了仿真分析，并与单一功能评价函数的仿真结果进行了比较。

Based on the gradient projection method,a solution of inverse kinematics for redundant manipula-tors is obtained,and then,a value function with double functions is proposed,which makes a manipula-tor perform two subtasks simultaneously-singularity avoidance and obstacle avoidance. Slmulations for a planar redundant manipulator with three-degree of freedom are performed by using this value function ,and a comparison between these results and previous results is also made.