摘要
本文在对多机器人静力分析的基础上 ,考虑最大作用力约束和点接触静摩擦约束 ,提出了一种采用混合遗传 -模拟退火算法的内力优化计算方法 ,并通过 2个平面机器人夹持一负载的仿真实验 ,给出了内力和负载分配的优化计算结果 .
In this paper, based on analysis of static forces for multiple manipulators, a c omputing scheme for dynamic optimal internal force is presented by mixed genetic - simulated annealing algorithms, in which the maximum force constraints and t he static frictional constraints at contacts points are considered as optimizing conditions. Optimal computing results of internal force and load distribution a re given by the simulation of planar dual manipulators holding a load.
出处
《机器人》
EI
CSCD
北大核心
2000年第4期276-281,共6页
Robot
基金
中国科学院机器人学开放研究实验室基金
关键词
多机器人
内力
遗传算法
优化
计算方法
Multiple manipulators, internal force , genetic algorithms, simulated annealing, algorithms , global optimization
