| 欠驱动机器人的最优轨道生成与实现 |
| |
| 引用本文： | 栾楠,明爱国,赵锡芳,陈建平.欠驱动机器人的最优轨道生成与实现[J].上海交通大学学报,2002,36(10):1422-1425,1434. |
| |
| 作者姓名： | 栾楠 明爱国 赵锡芳 陈建平 |
| |
| 作者单位： | 1. 上海交通大学,机器人研究所,上海,200030
2. 日本电气通信大学,日本东京,182-8585 |
| |
| 摘 要： | 提出了一种基于学习的动力学前馈方法，解决了欠驱动系统由于系统不完全可控造成的反馈控制失效，运动轨道难以实现的问题。在此基础上提出了学习－优化交替式最优运动轨道生成方法。该方法将轨道优化与学习控制相结合，所生成轨道可以在欠驱动机器人上实际操作，对一台实际的欠驱动机器人实现了最优轨道生成，并进行了动作实验，取得了较好效果。
|
| 关 键 词： | 欠驱动机器 最优轨道生成 欠驱动系统 非驱动关节 学习控制 轨道优化 前馈控制 |
| 文章编号： | 1006-2467(2002)10-1422-04 |
Generation and Realization of Optimal Trajectory for Under-Actuated Robot |
| |
| LUAN Nan ,MING Ai guo ,ZHAO Xi fang ,CHEN Jian ping.Generation and Realization of Optimal Trajectory for Under-Actuated Robot[J].Journal of Shanghai Jiaotong University,2002,36(10):1422-1425,1434. |
| |
| Authors: | LUAN Nan MING Ai guo ZHAO Xi fang CHEN Jian ping |
| |
| Institution: | LUAN Nan 1,MING Ai guo 2,ZHAO Xi fang 1,CHEN Jian ping 1 |
| |
| Abstract: | A method of dynamics feedforward control based on learning was proposed. It solved the problem that the smooth feedback control is invalid for under actuated robots, and can drive an underactuated robot in its trajectory accurately. A learning optimizing alternated method was proposed to generate optimal trajectories for under actuated robots. It is realizable for a real system. The effectiveness of the method is confirmed by an experiment with a real under actuated robot. |
| |
| Keywords: | under actuated system unactuated joint learning control generation of trajectory nonlinear optimization |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
