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基于二次型优化的不定目标自运动规划方案及PA10机械臂仿真验证 被引量：1

Quadratic-optimization based self-motion planning with no target-configuration assigned and verified via PA10 simulations
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摘要 提出一种基于二次型性能指标优化的方法来规划冗余机械臂的不定目标自运动,该方案能同时考虑关节极限和关节速度极限等物理约束,并通过两种不同方法完备且详细地分析了该二次型性能指标的设计原理.基于PA10机械臂的计算机仿真结果证实了该方案的可行性和有效性. A criterion is proposed in the form of a quadratic function for the purpose of self-motion trajectory planning of redundant robot arms with no target-configuration assigned.This self-motion planning scheme can incorporate the avoidance of joint physical limit such as joint limits and joint velocity limits simultaneously.The design principle of the quadratic performance index is investigated and proved via two different methods.Computer-simulation results based on PA10 robot arm substantiate the feasibility and efficacy of this self-motion-planning scheme.
作者 张雨浓 谭宁 谭志国 陈军
机构地区 中山大学信息科学与技术学院 中山大学软件学院
出处 《暨南大学学报（自然科学与医学版）》 CAS CSCD 北大核心 2010年第3期229-234,共6页 Journal of Jinan University(Natural Science & Medicine Edition)
基金 国家自然科学基金(60775050) 新世纪优秀人才支持计划(NCET-07-0887)
关键词 二次型优化 自运动 冗余机械臂 关节物理极限 quadratic optimization self-motion redundant robot arms joint physical limits
分类号 TP24 [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26

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二级参考文献48

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共引文献40

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二级引证文献7

暨南大学学报（自然科学与医学版）
2010年 第3期

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