OPTIMAL CONTROL OF REDUNDANT ROBOTS WITH LOCAL DEGREES OF FREEDOM

被引：0
|
作者：
Li Luya
Zhang Qixian
Yang Zongxu(Research Institute of Robotics
机构：
来源：
Chinese Journal of Aeronautics | 1997年 / 01期
关键词：
redundancy; robots; kinematics; robot dynamics; optimal control;
D O I：
暂无
中图分类号：
V249 [飞行控制系统与导航];
学科分类号：
081105 ;
摘要：
A kinematically redundant robot, with more degrees of freedom than re-quired to complete a desired task, can be usefu1 because of its inherent kinematics flexibili-ty and dynamic performance. lt is very difficu1t, however, to implement optimal redun-dancy control, while simultaneously taking into account hath kinematics and dynamics.To realize dua1-optimization control, a new redundant robot mechanism with local degreesof freedom is introduced, and its kinematics and dynamics features are investigated. Simu-lation results demonstrate the effectiveness of the proPosed method.
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页码：62 / 67
页数：6
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