赵京. 冗余度机械手的一种新的控制方法[J]. 机器人, 1993, 15(6): 40-42.
引用本文: 赵京. 冗余度机械手的一种新的控制方法[J]. 机器人, 1993, 15(6): 40-42.
ZHAO Jing. A NEW CONTROL METHOD FOR REDUNDANT MANIPULATORS[J]. ROBOT, 1993, 15(6): 40-42.
Citation: ZHAO Jing. A NEW CONTROL METHOD FOR REDUNDANT MANIPULATORS[J]. ROBOT, 1993, 15(6): 40-42.

冗余度机械手的一种新的控制方法

A NEW CONTROL METHOD FOR REDUNDANT MANIPULATORS

  • 摘要: 本文以冗余度机械手为研究对象,在梯度投影法和变量约束法的基础上给出了一种新的控制方法,即混合法.并利用该方法以平面三自由度机械手为例进行了仿真.

     

    Abstract: This paper considers redundant manipulators as an object of study.Based on the gradient projection methodand the constrained variable method,a new combined control method is proposed and the simulations for aplanar redundant manipulator with three-degree of freedom are also performed.

     

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