自由度大于六的机器人速度控制的能量优化分配
OPTIMUM ENERGY DISTRIBUTION OF VELOCITY CONTROL ROBOT WITH DOF GREATER THAN SIX
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摘要: 本文研究机器人自由度多于6的超确定速度输入问题．应用影响系数法，导出了机器人空间机构所有关节协同工作时，能量优化超确定速度输入的协调和分配方程．并用加权法推广到一般情况下驱动速度的分配的协调方程．Abstract: The problem of over-determinate input with DOF>6 is presented in the paper.Accordance and reasonable energy distribution of all inputs of robot manipulators are discussed by means of influencecoefficient method.Using weight distribution method are set also the equation for common situation inthe rear part of the paper.
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