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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, PP. 88-91

Keywords: 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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Abstract:

?探讨冗余机械臂之重复运动规划(Repetitivemotionplanning,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.

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