| 考虑了动力学的机器人路径优化方法的研究 |
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| 引用本文： | 刘盛平,水小平. 考虑了动力学的机器人路径优化方法的研究[J]. 长沙大学学报, 2003, 17(2): 12-16 |
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| 作者姓名： | 刘盛平 水小平 |
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| 作者单位： | 北京理工大学应用力学系,北京,100081 |
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| 摘 要： | 研究机器人操作臀沿着给定几何路径运动时耗费最小的一种方法．将机器人的运动时间和机器人传动装置的机械能耗费考虑在一起建立了一个双目标函数，在建立其数学模型时考虑了动力学方程．目标函数的结果依赖于时间和机械能在整个函数中的权系数，研究了一种算法使得双目标函数在受到一些物理约束的情况下获得最优结果，并通过一个六自由度的机器人操作臀来说明其有效性．
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| 关 键 词： | 机器人 路径规划 多目标函数 算法 |
| 文章编号： | 1008-4681(2003)02-0012-03 |
| 修稿时间： | 2002-12-16 |
Optimization of the Trajectory Planning of Robot Manipulators Taking into Account the Dynamics of the System |
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| LIU Shengping,SHUI Xiaoping. Optimization of the Trajectory Planning of Robot Manipulators Taking into Account the Dynamics of the System[J]. Journal of Changsha University, 2003, 17(2): 12-16 |
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| Authors: | LIU Shengping SHUI Xiaoping |
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| Abstract: | This paper consider a solution to the problem of moving a robot manipulator with minimum cost along a specified geometric path.The optimal traveling time and the minimum mechanic energy of the actuators are considered together to build a multiobjective function.The dynamic equation is considered when the mathmatical model being built.The results of the multiobjective function depend on the weighting factors of the time and energy,and an algorthm is developed to optimize the function with physical constraints.Results are illustrated by means of a example of a six d.o.f manipulator. |
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| Keywords: | robot trajectory planning mulitiobjective function algorithm |
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