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.
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