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重复运动速度层和加速度层方案的等效性

张智军 张雨浓

张智军, 张雨浓. 重复运动速度层和加速度层方案的等效性. 自动化学报, 2013, 39(1): 88-91. doi: 10.3724/SP.J.1004.2013.00088
引用本文: 张智军, 张雨浓. 重复运动速度层和加速度层方案的等效性. 自动化学报, 2013, 39(1): 88-91. doi: 10.3724/SP.J.1004.2013.00088
ZHANG Zhi-Jun, ZHANG Yu-Nong. Equivalence of Different-level Schemes for Repetitive Motion Planning of Redundant Robots. ACTA AUTOMATICA SINICA, 2013, 39(1): 88-91. doi: 10.3724/SP.J.1004.2013.00088
Citation: ZHANG Zhi-Jun, ZHANG Yu-Nong. Equivalence of Different-level Schemes for Repetitive Motion Planning of Redundant Robots. ACTA AUTOMATICA SINICA, 2013, 39(1): 88-91. doi: 10.3724/SP.J.1004.2013.00088

重复运动速度层和加速度层方案的等效性

doi: 10.3724/SP.J.1004.2013.00088
详细信息
    通讯作者:

    张雨浓

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

  • 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.
  • [1] Zhang Yu-Nong. Analysis and Design of Recurrent Neural Networks and Their Applications to Control and Robotic Systems [Ph.D. dissertation], Chinese University of Hong Kong, China, 2002(张雨浓. 递归神经网络的分析与设计及其在控制与机器人系统中的应用[博士论文], 香港中文大学, 中国, 2002)[2] Wang Zhi-Feng, Ma Shu-Gen, Li Bin, Wang Yue-Chao. Simulation and experimental study of an energy-based control method for the serpentine locomotion of a snake-like robot. Acta Automatica Sinica, 2011, 37(5): 604-614 (王智锋, 马书根, 李斌, 王越超. 基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究. 自动化学报, 2011, 37(5): 604-614)[3] Yin Feng, Wang Yao-Nan, Wei Shu-Ning. Inverse kinematic solution for robot manipulator based on electromagnetism-like and modified DFP algorithms. Acta Automatica Sinica, 2011, 37(1): 74-82(印峰, 王耀南, 魏书宁. 基于类电磁和改进DFP算法的机械手逆运动学计算. 自动化学报, 2011, 37(1): 74-82)[4] Chen Guo-Dong, Jia Pei-Fa. Robust decentralized trajectory tracking control of robot manipulators based on extended state observer. Acta Automatica Sinica, 2008, 34(7): 828-832 (陈国栋, 贾培发. 基于扩张状态观测的机器人分散鲁棒跟踪控制. 自动化学报, 2008, 34(7): 828-832)[5] Chyan G S, Ponnambalam S G. Obstacle avoidance control of redundant robots using variants of particle swarm optimization. Robotics and Computer-Integrated Manufacturing, 2012, 28(2): 147-153[6] Zhang Y N, Guo D S, Cai B H, Chen K. Remedy scheme and theoretical analysis of joint-angle drift phenomenon for redundant robot manipulators. Robotics and Computer-Integrated Manufacturing, 2011, 27(4): 860-869[7] Malysz P, Sirouspour S. A kinematic control framework for single-slave asymmetric teleoperation systems. IEEE Transactions on Robotics, 2011, 27(5): 901-917[8] Zhang Y N, Tan Z G, Chen K, Yang Z, Lv X J. Repetitive motion of redundant robots planned by three kinds of recurrent neural networks and illustrated with a four-link planar manipulator's straight-line example. Robotics and Autonomous Systems, 2009, 57(6-7): 645-651[9] Zhang Y N, Xie L, Zhang Z J, Li K N, Xiao L. Real-time joystick control and experiments of redundant manipulators using cosine-based velocity mapping. In: Proceedings of the 2011 IEEE International Conference on Automation and Logistics. Chongqing, China: IEEE, 2011. 345-350[10] Tcho\'{n K, Janiak M. Repeatable approximation of the Jacobian pseudo-inverse. Systems and Control Letters, 2009, 58(12): 849-856[11] Xue F Z, Hou Z C, Deng H J. Balance control for an Acrobot. In: Proceedings of the 2011 IEEE International Conference on Control and Decision Conference. Mianyang, China: IEEE, 2011. 3426-3429[12] Zhang Y N, Yi C F, Guo D S, Zheng J H. Comparison on Zhang neural dynamics and gradient-based neural dynamics for online solution of nonlinear time-varying equation. Neural Computing and Applications, 2011, 20(1): 1-7[13] Zhang Y N, Yi C F. Zhang Neural Networks and Neural-Dynamic Method. New York: Nova Science Publishers, 2011.[14] Hou Z G, Cheng L, Tan M. Multicriteria optimization for coordination of redundant robots using a dual neural network. IEEE Transactions on Systems, Man, and Cybernetics --- Part B: Cybernetics, 2010, 40(4): 1075-1087
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出版历程
  • 收稿日期:  2011-09-07
  • 修回日期:  2012-01-10
  • 刊出日期:  2013-01-20

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