冗余度机器人关节角振荡控制研究

Research on the Joints Oscillation Control of Redundant Robots

针对冗余度机器人关节角加速度振荡的问题,提出了自适应调整比例因子,并结合阻尼因子,给出了一种新的有效的梯度投影算法。阻尼因子具有在奇异点处降低关节角加速度幅值的优点,自适应调整因子能够增强函数的连续性,这两个因子的引入,在减少关节角加速度振荡方面具有明显的优势。最后提出四种方案进行计算机仿真对比,证明了其有效性。

A new and effective gradient projection method is proposed to handle the serious problem of oscillation in the joint angles of manipulator with the damped weight, and the self-adaptive adjustable factor is brought forward The damped weight has the advantage of cutting down the joints acceleration, and the self-adaptive adjustable factor could keep the function itself to be more smooth and continuous This combination of the damped weight and the self-adaptive adjustable factor gives the new algorithm a competitive edge over traditional ones Four models are established for computer simulation to verify the validity of proposed algorithm through comparison