| 引用本文: | 黄磊光 ，李耀通.梯度投影法应用于冗余机器人分解运动速度控制的新新方案[J].控制理论与应用,1998,15(2):184~189.[点击复制] |
| HU ANG Leiguang and LI Yaotong.A New Application of Gradient Projection Method to RMRC ControlKinematically Redundant Manipulators[J].Control Theory and Technology,1998,15(2):184~189.[点击复制] |
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| 梯度投影法应用于冗余机器人分解运动速度控制的新新方案 |
| A New Application of Gradient Projection Method to RMRC ControlKinematically Redundant Manipulators |
| 摘要点击 1002 全文点击 426 投稿时间：1996-10-22 修订日期：1997-04-14 |
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| DOI编号 |
| 1998,15(2):184-189 |
| 中文关键词 梯度投影法 分解运动速度控制 冗余分解 并行计算 奇异值分解 |
| 英文关键词 gradient projection method RMRC redundancy resolution parallel computation singular value decomposition |
| 基金项目 |
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| 中文摘要 |
| 本文讨论分解运动速度控制框架下将梯度投影法应用于冗余机器人控制的有关问题。实施梯度投影法的关键之一是自运动大小的选择。本文先分析了确定自运动大小的现有方法的优缺点，然后提出按机器人关节配置奇异程度来确定自运动优化因子的思想和方案。这种新方案与原有的动态优化方案相比，更有利于快速、并行的实施，文中给出了相应的计算思路，计算机仿真比较了该方案与固定优化因子方案的控制结果。 |
| 英文摘要 |
| Application of gradient projection method to control of redundant robots is discussed under the framework of resolved motion rate control (RMRC). One of key issues in applications of gradient projection method is determination of self-motion. In the paper, existing methods to determine self-motion are analyzed first. Then a new idea and relative scheme are proposed to decide self-motion optimization factor according to joint configuration of robots. This scheme has advantages over exist ones because it is more appropriate to implement gradient projection method fast and parallel. Such a parallel formulation is presented. Numerical simulation shows the efficiency of the scheme. |