%0 Journal Article
%T Research of manipulability optimization of redundant manipulator based on PSO<br>基于粒子群算法的冗余机械手可操作性寻优
%A WANG Xiu
%A GUO Xi-jin
%A ZHANG Tong-xiao
%A <br>汪秀
%A 郭西进
%A 张彤晓
%J 计算机应用研究
%D 2011
%I 
%X Contrary to the uncertain configuration of redundant manipulator corresponding to the target position, this paper presented whole manipulability index SM as the second index to determine the configuration of redundant manipulator on mani-pulability and then gave a way of optimizing SM. Combine with PSO, selected points on the circumstance, whose center was the related joint coordinate and the radius was the length of the link, as the particles of algorithm to iterate. The results of simulation confirm the effectiveness of the proposed method and the superiority of SM as the second index.
%K redundant manipulator
%K manipulability
%K whole manipulability index SM
%K PSO<br>冗余机械手
%K 可操作性
%K 整体可操作性指标SM
%K PSO
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=A9D9BE08CDC44144BE8B5685705D3AED&aid=2AC19804510A5C91461AE8254ECDE592&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=0B39A22176CE99FB&sid=C66DE7562B0326E2&eid=78BF76CF5B7CB0F2&journal_id=1001-3695&journal_name=计算机应用研究&referenced_num=0&reference_num=7