冗余度机器人运动学和动力学同时优化

利用冗余度机器人的冗余特性对其运动学和动力学同时优化.在动力学水平上采用加速度加权范数法对机器人关节力矩进行合理分配优化,在运动学水平上采用了梯度投影算法对机器人的避奇异位形的性能进行优化,并给出了同解性的算法,从而实现了冗余度机器人的运动学和动力学同时优化.仿真结果表明:该算法不仅具有关节力矩合理分配的作用,而且还能实现运动学的优化,实现了冗余度机器人的运动学和动力学同时优化.

Simultaneously Kinematical and Dynamical Optimizations of Redundant Robots

Kinematical optimization of redundant robots is proposed to be simultaneous with dynamical optimization according to the characteristics of their redundancies.The joint torques of a redundant robot are rationally distributed dynamically by the weighted least norm algorithm of acceleration,while the avoidability of singular positions of a redundant robot is optimized kinematically by gradient projection algorithm,and an algorithm of simultaneous solution is proposed to both kinematical and dynamical optimization.Simulation results showed that the algorithm is able to not only distribute rationally the joint torques but also optimize kinematically the motion of robots,thus implementing the simultaneous optimization of the redundant robots kinematically and dynamically.