OPTIMAL CONTROL OF REDUNDANT ROBOTS WITH LOCAL DEGREES OF FREEDOM

OPTIMAL CONTROL OF REDUNDANT ROBOTS WITH LOCAL DEGREES OF FREEDOM

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摘要 A kinematically redundant robot, with more degrees of freedom than re-quired to complete a desired task, can be usefu1 because of its inherent kinematics flexibili-ty and dynamic performance. lt is very difficu1t, however, to implement optimal redun-dancy control, while simultaneously taking into account hath kinematics and dynamics.To realize dua1-optimization control, a new redundant robot mechanism with local degreesof freedom is introduced, and its kinematics and dynamics features are investigated. Simu-lation results demonstrate the effectiveness of the proPosed method. A kinematically redundant robot, with more degrees of freedom than re-quired to complete a desired task, can be usefu1 because of its inherent kinematics flexibili-ty and dynamic performance. lt is very difficu1t, however, to implement optimal redun-dancy control, while simultaneously taking into account hath kinematics and dynamics.To realize dua1-optimization control, a new redundant robot mechanism with local degreesof freedom is introduced, and its kinematics and dynamics features are investigated. Simu-lation results demonstrate the effectiveness of the proPosed method.

作者 Li Luya Zhang Qixian Yang Zongxu(Research Institute of Robotics, Beijing University of Aeronauticsand Astronautics, Beijing, 100083, China)William A. Gruver(Simon Fraser University, Burnaby, B. C. Canada, V5A 1S6)

出处《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 1997年第1期62-67,共6页 中国航空学报（英文版）

关键词 REDUNDANCY ROBOTS KINEMATICS robot dynamics optimal control redundancy,robots,kinematics,robot dynamics,optimal control

分类号 V249 [航空宇航科学与技术—飞行器设计]

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2Zhao Dongbiao ,Zhu Jianying (Department of Mechanical Engineering ,NUAA29 Yudao Street ,Nanjing 210016 ,P.R.China).VARIABLE　STRUCTURE　MODEL－FOLLOWING　ADAPTIVE　CONTROL　DESIGN　FOR　ROBOT　MANIPULATORS[J].Transactions of Nanjing University of Aeronautics and Astronautics,1994,11(1):85-91.
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Chinese Journal of Aeronautics

1997年第1期

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OPTIMAL CONTROL OF REDUNDANT ROBOTS WITH LOCAL DEGREES OF FREEDOM

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