CAJ | 학술논문

液压驱动的多冗余机械臂用常规方法很难实现实时、精确的自动化控制,提出了一种基于几何理论的数值迭代算法,能快速地求解出多冗余机械臂的运动学逆解,并利用此算法对混凝土泵车的臂架系统进行了模拟仿真,仿真结果表明,此算法符合泵车臂架系统的实时自动化控制.
액압구동적다용여궤계비용상규방법흔난실현실시、정학적자동화공제,제출료일충기우궤하이론적수치질대산법,능쾌속지구해출다용여궤계비적운동학역해,병이용차산법대혼응토빙차적비가계통진행료모의방진,방진결과표명,차산법부합빙차비가계통적실시자동화공제.
This paper proposed a new iteration method based on geometry to solve the inverse kinematics for hydrau-lic driven multiple-redundant manipulator that is difficult to control real-time since its degrees of freedom are multi-ple-redundant. Using the proposed method, the optimal solution can be quickly and accurately obtained from these infinite solutions. Simulation results show that the new method has a fast convergence speed and good stability. It's suitable for control real-time.