CAJ | 학술논문

针对五自由度冗余机械臂，提出了一种新的基于伪逆的优化控制方法：利用一个可调权值因子，将最小速度范数方法（加速度层）和最小加速度范数方法进行加权组合，来实现对冗余机械臂的运动控制。该优化方法可以实现关节速度范数和关节加速度范数的同时最小化，而且使得机械臂的关节速度在运动末态时接近零。计算机仿真结果进一步验证了所给出的优化控制方法的可行性和优越性。
침대오자유도용여궤계비，제출료일충신적기우위역적우화공제방법：이용일개가조권치인자，장최소속도범수방법（가속도층）화최소가속도범수방법진행가권조합，래실현대용여궤계비적운동공제。해우화방법가이실현관절속도범수화관절가속도범수적동시최소화，이차사득궤계비적관절속도재운동말태시접근령。계산궤방진결과진일보험증료소급출적우화공제방법적가행성화우월성。
doinverse-based optimization scheme for five-degree-of-freedom redundant manipulators is proposed. Using an adjustable coefficient, the scheme combines the Minimum Velocity Norm(MVN)scheme and the Minimum Accelera-tion Norm(MAN)scheme to realize the optimal control of redundant robot manipulators. Such an optimal scheme can achieve the minimization of joint-velocity norm and joint-acceleration norm at the same time. Besides, the proposed optimization scheme can also make the joint velocity of the robot manipulator to be near zero at the end of the motion. Computer simulation results further verify the feasibility and the superiority of the proposed optimal control scheme.