摘要
To raise the optimizing ability of the redundant manipulators, a modified weighted gradient projection method(MWGPM) to optimize kinematics is presented.Two new concepts, the matrix weightability measure(MWM) and the self-motion declinability measure(SMDM) are proposed. Thus the weighting ability of the weighting matrix and the self-motion amplitude decided by the homogeneous solution could be continuously regulated. MWGPM has the merits which belong to both the least-norm solution (WLN), and gradient projection method(GPM), and it can obtain ideal optimizing effects at low joint velocities, which has been verified by simulation.
To raise the optimizing ability of the redundant manipulators, a modified weighted gradient projection method(MWGPM) to optimize kinematics is presented.Two new concepts, the matrix weightability measure(MWM) and the self-motion declinability measure(SMDM) are proposed. Thus the weighting ability of the weighting matrix and the self-motion amplitude decided by the homogeneous solution could be continuously regulated. MWGPM has the merits which belong to both the least-norm solution (WLN), and gradient projection method(GPM), and it can obtain ideal optimizing effects at low joint velocities, which has been verified by simulation.
