张雨浓, 谭志国, 杨智, 蔡炳煌. 基于二次型规划的平面冗余机械臂的自运动[J]. 机器人, 2008, 30(6): 566-571.
引用本文: 张雨浓, 谭志国, 杨智, 蔡炳煌. 基于二次型规划的平面冗余机械臂的自运动[J]. 机器人, 2008, 30(6): 566-571.
ZHANG Yu-nong, TAN Zhi-guo, YANG Zhi, CAI Bing-huang. Self Motion of Planar Redundant Manipulator Based on Quadratic Programming[J]. ROBOT, 2008, 30(6): 566-571.
Citation: ZHANG Yu-nong, TAN Zhi-guo, YANG Zhi, CAI Bing-huang. Self Motion of Planar Redundant Manipulator Based on Quadratic Programming[J]. ROBOT, 2008, 30(6): 566-571.

基于二次型规划的平面冗余机械臂的自运动

Self Motion of Planar Redundant Manipulator Based on Quadratic Programming

  • 摘要: 提出一种基于二次型性能指标的方法,用于规划平面冗余机械臂的自运动轨迹.鉴于实际的机械臂都存在关节物理约束,该自运动规划方案考虑了关节极限和关节速度极限的躲避.提出了基于线性变分不等式的原对偶神经网络,并将其作为所对应的二次型规划方案的实时求解器.仿真结果证实了该基于神经网络的自运动规划方案的有效性.

     

    Abstract: A method based on quadratic performance index is proposed to plan self-motion trajectories of planar redundant manipulators.As physical joint limits exist in all actual redundant manipulators,avoidance for joint limits and joint velocity limits is taken into account in the presented self-motion-planning scheme.A primal-dual neural network(PDNN)based on linear variational inequalities(LVIs)is introduced as the real-time solver for the resultant quadratic programming scheme. Simulation results verify the validity of the neural-network-based self-motion-planning scheme.

     

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