关键词: 零空间矢量, 冗余度机器人, 运动学优化, 自运动

Abstract: Based on the relationship between self-motion parameters and Jacobian null-space vectors, a new method for choosing self-motion parameters of redundant robots is proposed. Using linearization principle, an unified formulation of kinematic performance index is established and its analytical form in terms of self-motion parameters is deduced. Using nonlinear feedback, an optimal control system based on self-motion parameters is established. The proposed algorithm is characterized by less computation and great capability of optimization compared with GPM etc. The feasibility of the proposed algorithm is demonstrated by computer simulation results.

Key words: Kinematic optimization, Null-space vector, Redundant robot, Self-motion