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題 名 | Minimum-Torque Trajectory Planning of Redundant Manipulators between Two Joint Configurations=多餘自由度機械臂在兩形態間之最小力矩路徑規劃 |
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作 者 | 吳佳儒; | 書刊名 | 中國工程學刊 |
卷 期 | 22:2 1999.03[民88.03] |
頁 次 | 頁159-169 |
分類號 | 448.94 |
關鍵詞 | 多餘自由度機械臂; 力矩最佳化; 非線性規劃; Redundant manipulators; Torque optimization; Nonlinear programming; |
語 文 | 英文(English) |
中文摘要 | 一種數值方法被提出來解決多餘自由度機械臂在兩形態間最小力矩路徑規劃的問 題。不同於以往虛擬反矩陣控制的方法,本文是以一種疊代的方法將此問題轉換為一非線性 規劃的問題,接著並討論如何得出此問題的可行性解答。而由於可以輕易地得到足夠數目的 可行性解答,因此在解此問題時,可以由不同的可行性解答出發,以尋找所有可能的局部極 小值。而為驗證所提方法之正確性,將以三軸機械臂為例進行模擬。 |
英文摘要 | A numerical approach is proposed for minimum-torque trajectory planning] (MTTP) of kinematically redundant manipulators between two joint configurations. Different from the traditional pseudoinverse control scheme, the first step of the proposed approach is to use an iterative procedure to transform the MTTP problem into a nonlinear programming (NLP) problem. Then an approach to generate a series of feasible solutions for the NLP problem is proposed. Since a sufficient number of feasible solutions can be easily generated, the optimization process of the NLP problem can be started from different points to search for all the local minima. To show the validity of the proposed approach, a planar three-link robotic manipulator is included in the simulation example. |
本系統中英文摘要資訊取自各篇刊載內容。