一种新的冗余度机器人梯度投影算法

NEW GRADIENT PROJECTION METHOD OF KINEMATICALLY REDUNDANT MANIPULATORS

在对现有梯度投影方法分析的基础上，研究了比例因子在算法中的作用及意义，构造了判定可行比例因子的度量指标ＰＨ，并在ＰＨ度量指标基础上，提出了一种适合于各种性能指标函数的均衡比例因子梯度投影新算法及构造多性能函数的方法，并通过实例验证了方法的可行性及通用性。

The function of the scale factor of the gradient projection method is firstly studied on the basis of analysis of the methods, and the performance index PH is proposed to measure the feasible scale factor. Based on the PH index, a new gradient projection method with balanced scale factors, which is suited for all kinds of performance indices, is established, and some numerical experiments is given to verify the method to be a general effective method. The method of structuring multi-performance indices function is established,and is verify versatile by a numerical experiments.