具有最优初始位形的冗余度柔性杆机器人关节驱动力矩优化
Joint Torque Optimization of Redundant Flexible Robot Manipulators with Optimal Initial Configuration
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摘要: 提出一种在最优初始位形的基础上进行冗余度柔性机器人全程驱动力矩最优规划的方法,动力学数值模拟表明,这一方法可以取得比较好的效果.Abstract: A method for joint torque optimization with optimal initial configuration of redundant flexible robot manipulators is presented. The dynamic simulation of it shows the new method is effective.
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