KINEMATIC OPTIMIZATION OF REDUNDANT ROBOT BASED ON SELF-MOTION CONTROL

Abstract

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

CLC Number:

TP242

Ye Ping;Sun Hanxu;Zhang Qiuhao. KINEMATIC OPTIMIZATION OF REDUNDANT ROBOT BASED ON SELF-MOTION CONTROL[J]. , 2004, 40(12): 128-132.

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KINEMATIC OPTIMIZATION OF REDUNDANT ROBOT BASED ON SELF-MOTION CONTROL

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