CAJ | 학술논문

基于NTG(Nonlinear Trajectory Generation)软件包提出了一种机器人yoyo运动实时最优轨迹生成的通用方法,即数值解法,该方法也可以应用于其他类似周期性动态系统的轨迹规划问题.对于这类系统的实时最优控制来说,一个最为关键的问题就是如何实现快速求解最优轨迹,以满足实时性要求.而传统的数值求解方法都很费时.通过把最优问题映射一个较低维的空间进行求解,并且利用多线程编程技术,大大减少了计算所用的时间.仿真结果显示所求得的数值解与解析解完全相同.这也验证了该方法的正确性.单循环yoyo仿真的计算时间为10 ms左右,这表明该方法完全可以应用于实时控制.
기우NTG(Nonlinear Trajectory Generation)연건포제출료일충궤기인yoyo운동실시최우궤적생성적통용방법,즉수치해법,해방법야가이응용우기타유사주기성동태계통적궤적규화문제.대우저류계통적실시최우공제래설,일개최위관건적문제취시여하실현쾌속구해최우궤적,이만족실시성요구.이전통적수치구해방법도흔비시.통과파최우문제영사일개교저유적공간진행구해,병차이용다선정편정기술,대대감소료계산소용적시간.방진결과현시소구득적수치해여해석해완전상동.저야험증료해방법적정학성.단순배yoyo방진적계산시간위10 ms좌우,저표명해방법완전가이응용우실시공제.
Based on Nonlinear Trajectory Generation(NTG) software package,a general approach (I.e.numerical solution) to realtime optimization trajectory generation for robotic yoyo motion is presented,which may also be applied to other similar periodic dynamic systems for trajectory planning.For the real-time optimization control of this class of systems,a critical problem is how to implement fast solving the optimal trajectory,so as to meet the real-time demand.However,traditional numerical solution methods are very time-consuming. In this paper,the optimization problem is solved by being mapped to a lower-dimension space,which combined with using multithread programming technology greatly reduces the computation time.Simulation results show that the numerical solution is identical to the analytic one,which demonstrates the correctness of the proposed method.The computation time of one cycle of yoyo simulation is about 10 ms, which shows that the proposed numerical method can be applied to realtime control.