【摘要】 在加速度水平上冗余度机器人的冗余特性可以实现力矩合理分配的动力学优化,由于受奇异位形的影响关节速度会出现突变,从而引起不稳定。文章提出了在速度水平上利用冗余特性进行动力学优化,同时也综合了运动学上的性能优化的算法,最后经过仿真验证了该算法的可行性。更多还原

【Abstract】 Redundant robots can easily achieve capabilities such as moment rational distribution at velocity level,as it can cause joint velocity sudden-change as a result of singularity position.In this paper,the optimal control of dynamics for redundant robots is put forward,and synthesizes the optimal control of kinematics simultaneously.Computer simulation shows that the algorithm has good feasibility.更多还原