【摘要】 导出了冗余度机器人基于优化力度的运动学逆解,并将优化力度函数用于冗余度机器人运动学优化控制.通过调整优化力度函数中自运动限制因子的取值,可以改变自运动速度在关节角速度中所占份额,实现人为地控制任务时间段内关节角速度的大小,使各关节角速度接近一致,实现二次优化.更多还原

【Abstract】 New analytic model for the inverse kinematics of redundant robot is developed based on an optimization measure. The optimization measure is defined as a criterion to determine the adaptability of optimization constraint, task constraint and geometric constraint each other and a smooth and continuous function of optimization measure is introduced. By adjusting the value of the selfmotion limited elements in optimization measure function, it can be realized to adjust the percentage which the selfmotion velocity accounts for joint angular velocity.更多还原