【作者】 王琨； 阮久宏； 李贻斌； 张海燕；

【Author】 Wang Kun 1,Ruan Jiuhong 2,1,Li Yibin 1,Zhang Haiyan 2 1.Center for Robotics,Shandong University,Jinan 250061,P.R.China 2.Advanced Vehicle and Robot Institute,Shandong Jiaotong University,Jinan 250023,P.R.China

【机构】 山东大学机器人研究中心； 山东交通学院先进车辆与机器人研究所；

【摘要】 使用非线性优化方法对单目标有约束冗余驱动控制协调问题进行研究。首先给出兼具位置约束和速率约束的冗余驱动控制协调问题的数学描述;然后使用导数概念将速率约束和位置约束表达为统一的位置约束形式(即速率-位置约束统一表达法),给出问题求解的梯度投影算法和步骤;最后通过一个算例对速率-位置约束统一表达法和梯度投影算法的有效性进行检验。结果表明,本文方法在单目标有约束冗余驱动控制协调策略求解精度和实时性方面具有良好性能。更多还原

【Abstract】 The single objective redundant drive control cooperation with restriction was studied in this paper by utilizing nonlinear optimization algorithm.Firstly,the general mathematic form of redundant drive control cooperation with position and velocity restriction was described.Secondly,the gradient concept was used to uniformize the position and velocity restriction(named velocity-position restriction uniform expression means) ,and the selected algorithm-gradient projection algorithm(GPA) was introduced briefly.At last,a computation example was given to test the effective of the velocity-position restriction uniform expression means and the GPA.The results show that,in terms of accuracy and real-time,the method proposed has good performance in resolving the problem of single objective redundant drive control cooperation.更多还原