| 基于双判据优化方法的机器人逆运动学求解 |
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| 引用本文： | 张雨浓,符刚,尹江平.基于双判据优化方法的机器人逆运动学求解[J].大连海事大学学报(自然科学版),2007,33(3):1-5. |
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| 作者姓名： | 张雨浓 符刚 尹江平 |
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| 作者单位： | 中山大学电子与通信工程系 广州510275 |
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| 基金项目： | 国家自然科学基金资助项目(60643004) |
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| 摘 要： | 为解决在速度层上无穷范数最小化模型中可能出现的不连续点问题,提出一种基于双判据方法的二次型优化模型.冗余机器人运动规划与控制模型可以统一各种关节物理极限,如关节变量极限与关节速度极限.同时该模型又可以最终转化为一个标准的二次规划问题.为了实时求解该二次规划问题,提出一种基于线性变分不等式(LVI)的原对偶神经网络.该神经网络作为实时求解器具有简单的分段线性结构和较高的计算效率.计算机对PUMA560机器手臂的模拟仿真表明,该方案具有灵活性和有效性.
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| 关 键 词： | 机器人 逆运动学 二次规划 线性变分不等式 原对偶神经网络 |
| 文章编号： | 1006-7736（2007）03-0001-05 |
| 修稿时间： | 2007-06-17 |
A solution to robotic inverse-kinematic problem using bi-criteria weighted optimization |
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| ZHANG Yu-nong,FU Gang,YIN Jiang-ping.A solution to robotic inverse-kinematic problem using bi-criteria weighted optimization[J].Journal of Dalian Maritime University,2007,33(3):1-5. |
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| Authors: | ZHANG Yu-nong FU Gang YIN Jiang-ping |
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| Institution: | Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China |
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| Abstract: | To diminish discontinuity-points arising in the infinity-norm velocity-minimization scheme,a bicriteria velocity-minimization scheme was developed.The kinematic-control scheme of redundant manipulators could incorporate joint physical limits,such as,joint limits and joint velocity limits simultaneously.Moreover,the method could be reformulated as a quadratic programming(QP) problem.As a real-time QP solver,a LVIbased primal-dual neural network was developed with a simple piecewise-linear structure and higher computational efficiency.Computer simulations performed based on PUMA560 manipulator illustrate the validity and advantages of the proposed neural control scheme for redundant robots. |
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| Keywords: | robot inverse kinematic quadratic programming linear variation inequalities(LVI) primal-dual neural network |
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