| 冗余度机器人多指标融合优化的研究 |
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| 引用本文： | 高同跃,戴炬.冗余度机器人多指标融合优化的研究[J].华中科技大学学报(自然科学版),2004(Z1). |
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| 作者姓名： | 高同跃 戴炬 |
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| 作者单位： | 山东科技大学机器人研究中心 山东科技大学机器人研究中心 山东济南 山东济南 |
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| 摘 要： | 冗余度机器人由于具有冗余自由度 ,能较好的实现避奇异、避障碍物、避关节范围越限等性能 ,使得该类机器人的操作性和灵活性得到了提高 .以梯度投影法为基础 ,采用线性加权法 ,研究冗余度机器人的多指标融合优化问题 ,最后给出了仿真结果 .
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| 关 键 词： | 冗余度机器人 梯度投影法 多指标融合 线性加权法 |
Research on multi-index amalgamation optimization of redundant robots |
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| Gao Tongyue Dai Ju Postgraduate, Robotics Institute,Shandong University of Science and Technology,Jinan,Shandong ,China..Research on multi-index amalgamation optimization of redundant robots[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004(Z1). |
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| Authors: | Gao Tongyue Dai Ju Postgraduate Robotics Institute Shandong University of Science and Technology Jinan Shandong China |
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| Institution: | Gao Tongyue Dai Ju Postgraduate, Robotics Institute,Shandong University of Science and Technology,Jinan,Shandong 250031,China. |
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| Abstract: | Redundant robots can easily achieve capabilities such as avoiding the singularity position and orientation, avoiding obstacle and avoiding the movement of joints surpassing the range because the flexibility of this kind of robot is highly improved. Based on the projection grads method, multi-index amalgamation optimization of redundant robot is researched through the weighted linear method. Finally, the emulation validates the above method. |
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| Keywords: | redundant robot projection grads multi-index amalgamation weighted linear method |
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