摘要
提出冗余度机器人运动学逆解的梯度投影算法,针对冗余度机器人运动动能最小优化、避障优化,分别建立其梯度优化函数对其进行优化,并对平面三自由度机器人进行仿真,结果表明此方法的合理性和有效性,为冗余度机器人提供了一种有用的运动规划方法。
The gradient projection method is proposed,which is used for establishing the gradient optimization functions for kinetic energy minimum and obstacle avoidance. And then simulates on the 3 -DOF plane robot, the rationality and validity of the method is proved by the results,which supplies the redundant robots with an useful motion planning.
出处
《机械与电子》
2007年第3期61-63,共3页
Machinery & Electronics
关键词
梯度投影算法
动能最小
避障
gradient projection method
minimum of kinetic energy
obstacle avoidance
