STUDY ON KINEMATICS REAL-TIME CONTROL FOR REDUNDANT ROBOTS BASED ON THE MOTION OPTIMIZABILITY MEASURE

›› 1994, Vol. 30 ›› Issue (6): 93-100.

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STUDY ON KINEMATICS REAL-TIME CONTROL FOR REDUNDANT ROBOTS BASED ON THE MOTION OPTIMIZABILITY MEASURE

Li Luya;Zhang Qixian;Yang Zongxu

Beijing University of Aeronautics and Astronautics

Published:1994-11-01

Abstract

Abstract: In order to solve the real-time control problem of kinematics for redundant robots, an analytical solution at joint velocity level for redundant robots is described. To counter the avoidance of the system oscillation and the control of incorporating multiple criteria, a new concept, the motion optimizability measure (MOM), is proposed, and the MOM function is developed. Results of the simulation is presented to demonstrate the effectiveness of the control scheme.

Key words: Control, Kinematics, Robots

Li Luya;Zhang Qixian;Yang Zongxu. STUDY ON KINEMATICS REAL-TIME CONTROL FOR REDUNDANT ROBOTS BASED ON THE MOTION OPTIMIZABILITY MEASURE[J]. , 1994, 30(6): 93-100.

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STUDY ON KINEMATICS REAL-TIME CONTROL FOR REDUNDANT ROBOTS BASED ON THE MOTION OPTIMIZABILITY MEASURE

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