超冗余度机械手自律分散控制算法

详细信息

A DECENTRALIZED AUTONOMOUS CONTROL ALGORITHM FOR HIGHLY REDUNDANT ROBOT MANIPULATORS

摘要: 本文介绍了一种超冗余度机械手的控制算法，它采用自律分散控制方法来指导冗余度机械手末端执行器的运动，实现做功最小，从而避免采用需复杂计算的求逆解的方法，大大简化了机械手的算法和控制，具有高度的“鲁棒性”和“容错性”．
- 冗余度机械手 /
- 自律分散控制 /
- 鲁棒性 /
- 容错性
Abstract: This paper introduces a redundant robot manipulator’s control method. It uses a distributed autonomous control scheme to guide the movement of robot manipulator s so that the work done by manipulators is minimized. And it can avoid using the method of computing pseudoinverse which has too many complicated calculations. Then the calculation and control of robot are simplified. At the same time, syst em robustness/fault tolerance are achieved.
- Highly redundant robot /
- decentralized autonomous control /
- robustness /
- fault tolerance

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