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April 18, 2014Acta Automatica Sinica

Equivalence of Different-level Schemes for Repetitive Motion Planning of Redundant Robots

Zhijun Zhang Yunong Zhang

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Abstract

摘要: 探讨冗余机械臂之重复运动规划(Repetitive motion planning, RMP), 对应速度层重复运动规划方案, 提出了加速度层重复运动规划方案, 并进一步发现和探讨了速度层与加速度层RMP方案的等效性关系. 基于神经动力学方法的理论分析和基于PUMA560机械臂的计算机仿真结果均证实了本文所提出的加速度层RMP方案在冗余度解析问题上的有效性, 以及速度层和加速度层RMP方案的等效性. 关键词: 等效性 / 重复运动规划 / 神经动力学方法 / 机械臂 / 二次规划

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Cite This Study

Zhang et al. (2014) studied this question.

synapsesocial.com/papers/6ab8aa23d9ec851c8c16fb74 https://doi.org/10.3724/sp.j.1004.2013.00088

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