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冗余度柔性机器人动力规划研究 被引量：1

Optimization of the Joint Torque in A Flexible Redundant Manipulator
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摘要 提出了机器人动力规划新策略———基于关节最优初始位形的多目标规划方法。在保证机器人实现预定运动轨迹的前提下 ,调节机器人的关节初始位形 ,尽可能地降低机器人的关节驱动力矩和末端的弹性变形的运动误差。通过一空间 It discussed the method to optimize the joint torque of flexible redundant manipulators. This optimal objective was the combination of joint torque with endpoint error. The numerical simulation of a 4R spatial manipulator showed that the method was effective.
作者 胥宏 张绪平 余跃庆
机构地区 成都电子机械高等专科学校机械工程系 北京工业大学机电学院
出处 《机械设计与制造工程》 2002年第5期27-29,共3页 Machine Design and Manufacturing Engineering
关键词 柔性机器人 动力规划 弹性变形 冗余度机器人 驱动力矩 关节初始位形 Elastic Deformation Redundant Manipulator Driven Torque Initial Joint Configuration
分类号 TP242 [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3

二级参考文献8

  • 1Gaultier P E, et al. Modeling of Flexible Manipulator Dynamics: A Literature Survey. 1st Nat. Appl Mech.conf, Cincinnati, OH, 1989,2C-3:1-10.
  • 2Book W J. Modeling, Design, and Control of Flexible Manipulator Arms: A Tutorial Review. Proc the 29th IEEE conf on Design and Control, 1990:500-506.
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  • 4Sunda W H, et al. On the Dynamic Analysis and Behavior of Industrial Robotic Manipulators with Elastic Members. ASME Journal of Mechanisms, Transissions and Automation in Design, 1983,105:42-51.
  • 5Naganathan G, et al. Nonlinear Modeling of Kinematic and Flexible Effects in Manipulator Design. ASME Journal of Mechnisms, Transissions and Automation in Design, 1988,110:243-254.
  • 6Gaultier P E, et al. A Spatially Translating and Rotating Beam Finite Element for Modeling Flexible Manipulators. Mechnisms and Machine Theory, 1992, 27(4) :415-433.
  • 7Yang Z, Sadler J P. Finite Element Modeling of Spatial Robot manipulators. ASME Design Technical Conferences-21st Biennial Mechanisms Corference. Chicago, Illinois, 1990,489-496.
  • 8Yue Shigang, et al. Flexible Rotor Beam Element for the Manipulators with Joint and Link Flexibility.Mechanisms and Machine Theory, 1997, 32 (2) : 209-219.

共引文献15

同被引文献7

  • 1孙奎,谢宗武,刘宏,黄剑斌.梯度投影法多性能准则优化的应用研究[J].控制与决策,2007,22(12):1433-1436. 被引量：5
  • 2Lee Heow Pueh.Motions with minimal joint torques for redundant manipulators[J].ASME Journal of Mechanical Design,1993,115(3):599-603.
  • 3Kazuya Yoshida.Zero reaction maneuver:flight validation with ETS-VII space robot and extension to kinematically redundant arm[C]//Proceedings of IEEE International Conference on Robotics and Automation.New York:IEEE,2001:441-446.
  • 4Hollerbach J M,Suh K C.Local versus global optimization of redundant manipulators[C]//Proceedings of IEEE International Conference on Robotics and Automation.New York:IEEE,1987:619-624.
  • 5Dubey R V,Euler J A.An efficient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist[C]//Proceedings of IEEE International Conference on Robotic and Automation.New York:IEEE,1988:28-36.
  • 6Kazerounian K,Nedungadi A.An alternative method for minimization of the driving forces in redundant manipulators[C]//Proceedings of IEEE International Conference on Robotic and Automation.New York:IEEE,1987:1791-1706.
  • 7余跃庆,刘林涛.多冗余度柔性机器人运动规划[J].机械科学与技术,2003,22(4):588-590. 被引量：2

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机械设计与制造工程
2002年 第5期

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