| 双臂机器人协调运动在线控制的算法实现 |
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| 引用本文： | 陈安军.双臂机器人协调运动在线控制的算法实现[J].西南师范大学学报(自然科学版),2001,26(4):412-415. |
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| 作者姓名： | 陈安军 |
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| 作者单位： | 信阳师范学院应用物理系 |
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| 基金项目： | 河南省自然科学基金项目(964072200). |
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| 摘 要： | 以牛顿－欧拉算法为基础，建立了适合于双臂机器人实时控制的在线控制算法，该算法包括3个部分，一是在线运动学正向逆推算法，二是在在线载荷优化算法，三是在线逆动力学反向递推算法，不仅给出相应运动学及动力学递推计算公式，而且以载荷的最小范数为目标函数，实现载荷的优化分配，使在线控制算法更具有应用价值。最后通过算例验证算法的可行性。
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| 关 键 词： | 双臂机器人 协调运动 载荷分配 控制算法 专线控制 |
| 文章编号： | 1000-5471(2001)04-0412-04 |
| 修稿时间： | 2001年1月27日 |
Realization of On-Line Control Algorithm for Dual-Arm Robot C oordinate Motion |
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| CHEN An-jun Dept. of Applied Physics,Xinyang Teacher's College,Xinyang Henan ,China.Realization of On-Line Control Algorithm for Dual-Arm Robot C oordinate Motion[J].Journal of Southwest China Normal University(Natural Science),2001,26(4):412-415. |
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| Authors: | CHEN An-jun Dept of Applied Physics Xinyang Teacher's College Xinyang Henan China |
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| Institution: | CHEN An-jun Dept. of Applied Physics,Xinyang Teacher's College,Xinyang Henan 464000,China |
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| Abstract: | Based on the Newton Euler recurrence algorithm , on line control algorithm is developed which can be used for the real time control of dual arm robot. This algorithm includes three sections. The first one is the on line control algorithm of kinematics positive recurrence; the second is the algorithm of load optimal; and the third is the on line control algorithm of inverse dynamics negative recurrence. The recursive computation formulas of kinematic and dynamic not only is given , but also the minimal load distribution is developed with the least norm of load as a objective function . By this method , the applied value of the on line control algorithm can be increased. |
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| Keywords: | dual arm robot coordinate motion load distribution control algorithm |
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