冗余度机器人全局优化的一种新方法

AN APPROACH TO THE GLOBAL OPTIMAL CONTROL OF REDUNDANT ROBOTS

摘要: 提出一种冗余度机器人全局优化的新方法．通过引入自运动变量，为冗余度机器人全局优化问题建立了一个简单泛函极值模型，并由此导出了响应的全局优化算法．这种方法建模简单，计算量小，能实现冗余度机器人全局优化的实时控制．

Abstract: This paper describes a new method of the global optimal control for redundant robots. In this paper a simple functional extreme model of global optimal control for redundant robots is established by using the self-motion parameters. Then an efficient algorithm is deduced, the effectiveness of which is shown by simulations.