【摘要】 主要运用最优化的思想对机械臂运动路径的设计问题进行了讨论.首先利用空间几何知识,得出了机械臂末端的空间位置与各关节角度间的关系,然后就不同问题进行具体分析后分别建立了最优化模型并设计了相应算法,根据模型和算法并采用逐步缩小搜索范围等方法对各个问题进行了求解.最后,从提高机械臂灵活性和扩大其适用范围方面提出了改进建议.更多还原

【Abstract】 This paper mainly discusses the moving track of manipulators using the optimization of thinking.First making use of space geometry,yield the relationship between spatial positions of a manipulator terminal and all of its joint angles,then analyze individual problems to establish the optimal model and design corresponding algorithms.Based on the models and algorithms,solve the problems by narrowing the scope of the search step by step.Finally,suggestions are given in improving the flexibility of a manipulator and expanding its scope of application.更多还原