唐世明, 张启先. 冗余度机器人全局优化的一种新方法[J]. 机器人, 1999, 21(2): 81-85..
TANG Shiming, ZHANG Qixian. AN APPROACH TO THE GLOBAL OPTIMAL CONTROL OF REDUNDANT ROBOTS. ROBOT, 1999, 21(2): 81-85..
Abstract：This paper describes a new method of the global optimal control for redundant robots. In this paper a simple functional extreme model of global optimal control for redundant robots is established by using the self-motion parameters. Then an efficient algorithm is deduced, the effectiveness of which is shown by simulations.
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