頁籤選單縮合
| 題 名 | Relationship between the Pseudoinverse Formulation and the Compact Formulation for Obtaining the General Solutions of Redundant Robotic Systems=求取多餘自由度機器人系統之一般解的虛擬反公式與精簡公式間之關係 |
|---|---|
| 作 者 | 鄭芳田; 陳清華; | 書刊名 | Proceedings of the National Science Council : Part A, Physical Science and Engineering |
| 卷 期 | 22:2 1998.03[民87.03] |
| 頁 次 | 頁251-260 |
| 分類號 | 448.94 |
| 關鍵詞 | 多餘自由度機器人系統; 虛擬反公式; 精簡公式; Pseudoinverse formulation; Compact formulation; Gaussian elimination with partial pivoting; |
| 語 文 | 英文(English) |
| 中文摘要 | 多餘自由度機械人系統的力量分佈問題與反運動學問題的一般解,巳曾被用虛 擬反公式及精簡公式求得。其中,精簡公式是利用高斯消去法,仍將一般解導成由一個特 殊解及同質解溝成。與虛擬反公式之最主要不吁點在於精簡公式的同質解僅是自由變數的 函數。因此,最佳化問題之規模將大大地減少,使得求解過程之計算負荷亦大規模地減少 。本論文將探討虛擬反公式與精簡公式間之關係,並明確指出,虛擬反公式能以梢簡公式 之方式表示。 |
| 英文摘要 | The general solutions of redundant robotic systems for Force Distribution and Redundant Inverse Kinematics problems have been formulated using, the traditional Pseudoinverse formulation and the Compact formulation. The Compact formulation is derived by applying Gaussian elimination with partial pivoting to transform the underspecified matrix into a row-reduced echelon form; then. the general solution is still formulated as one particular solution together with a homogeneous solution. The major difference is that, unlike the Pseudoinverse formulation. the homogeneous solution of the Compact formulation is merely a function of the free variables. As such, the optimization problem size is greatly reduced so that the computational burden (especially for constrained optimization problems with inequalities) is also greatly reduced. In this paper, the relationship between these two formulations is investigated. It is shown that the Pseudoinverse formulation can be converted into the Compact formulation with the free variables chosen as a function of the arbitrary vector of the Pseudoinverse formulation. |
本系統中英文摘要資訊取自各篇刊載內容。