【摘要】 研究机器人操作臂沿着给定几何路径运动时耗费最小的一种方法 .将机器人的运动时间和机器人传动装置的机械能耗费考虑在一起建立了一个双目标函数 ,在建立其数学模型时考虑了动力学方程 .目标函数的结果依赖于时间和机械能在整个函数中的权系数 ,研究了一种算法使得双目标函数在受到一些物理约束的情况下获得最优结果 ,并通过一个六自由度的机器人操作臂来说明其有效性更多还原

【Abstract】 This paper consider a solution to the problem of moving a robot manipulator with minimum cost along a specified geometric path.The optimal traveling time and the minimum mechanic energy of the actuators are considered together to build a multiobjective function.The dynamic equation is considered when the mathmatical model being built.The results of the multiobjective function depend on the weighting factors of the time and energy,and an algorthm is developed to optimize the function with physical constraints.Results are illustrated by means of a example of a six d.o.f manipulator.更多还原