罗翔, 沈洁, 毛玉良, 颜景平. 存在驱动饱和约束下的机器人时间最优实时运动规划研究[J]. 机器人, 2001, 23(1): 26-30..
LUO Xiang, SHEN Jie, MAO Yu-liang, YAN Jing-ping. REAL-TIME MOTION PLANNING RESEARCH OF ROBOTS DUE TO THE LIMITED ACTUATOR POWER. ROBOT, 2001, 23(1): 26-30..
Abstract：In this paper, a rule of real-time motion planning for visual servo robots due to the limited actuator power is presented. The rule employs a fuzzy logic adaptive algorithm to modify the motion of robots on-line based on the potential of actuators such as a DC motor according to its mechanical character and performing condition. Time-optimal motion is achieved, disregarding the influence of singularity. A simulation of 2-DOF planar manipulator is also presented in this paper.
[1] Seth Hutchinson, Gregory D, Hager Peter I. Corke A Tutorial on Visual Servo Control. IEEE Trans. Robot. Automat.,1996,12(5):651-670. [2] Whitney D E. The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators. J Dynamic Syst Measurement and Control Trans ASME, 1972:303-309. [3] Luh J Y S, Walker M W, Paul R P. Resolved-Acceleration Control of Mechanical Manipulators, IEEE Trans. on Automatic Control, 1980,AC-25:195-200. [4] Symbolic M. Singular Value Decomposition for Simple Redundant Manipulators and its Application to Robot Control. Int J Robotics Research, 1995,14(4):382-389. [5] Resolved-rate M N. Resolved-Acceleration-Based Robot Control in the Presence of Actuators' Constraints. Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 235-239
