Dynamic stability and the end-task self motion for redundant manipulators

被引：0

作者：

Chen, WH ^{[1
]}

Wu, Z ^{[1
]}

Zhang, QX ^{[1
]}

Li, J ^{[1
]}

Li, LY ^{[1
]}

机构：

[1] Beijing Univ Aeronaut & Astronaut, Inst Robot Res, Beijing 100083, Peoples R China

来源：

1998 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5 | 1998年

关键词：

redundant; robots; dynamics; control;

D O I：

暂无

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

The stability and the end-task self motion are important and difficult points. To solve these difficulties that exist in dynamic optimization of redundant manipulators, this paper deeply research the inner relation and contradictory conflict between the dynamic optimization and the joint velocities, a new idea to raise the general quality of dynamic optimization by means of optimizing joint velocities is presented; A scheme resulted from adjusting homogeneous joint velocity item in realtime is developed to effectively improve stability and joint velocities at end of motion to be near zero; Computer simulation verified the proposed approach to be very useful and efficient.

引用

页码：3508 / 3513

页数：6

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