冗余鋪絲機(jī)械手逆運(yùn)動(dòng)學(xué)的拓?fù)淞餍畏治?/H1>
發(fā)布時(shí)間：2018-03-01 17:49
本文關(guān)鍵詞： 機(jī)械手 冗余 拓?fù)?流形 進(jìn)氣道 出處：《農(nóng)業(yè)機(jī)械學(xué)報(bào)》2017年06期
論文類型：期刊論文
【摘要】：針對(duì)優(yōu)化的梯度投影算法在冗余鋪絲機(jī)械手逆運(yùn)動(dòng)學(xué)求解問題中不一定存在最優(yōu)解的問題,提出了一種拓?fù)淞餍嗡惴�。將冗余鋪絲機(jī)械手的位形空間看作一個(gè)光滑流形,對(duì)耦合的位置逆解和姿態(tài)逆解進(jìn)行解耦,然后分別針對(duì)位置子流形和姿態(tài)子流形進(jìn)行仿真分析得到其相應(yīng)的仿真拓?fù)淞餍巍Ｔ摲椒ǹ梢詫伣z機(jī)械手的運(yùn)動(dòng)學(xué)問題抽象為數(shù)學(xué)中的曲面拓?fù)淞餍蝸硌芯?為鋪絲機(jī)械手運(yùn)動(dòng)學(xué)在流形上分析提供了理論基礎(chǔ),同時(shí)也為后續(xù)鋪絲機(jī)械手的最優(yōu)化自運(yùn)動(dòng)控制提供了一種新的方法。最后以飛機(jī)S形進(jìn)氣道為例進(jìn)行仿真,驗(yàn)證了所提方法的正確性。
[Abstract]:Aiming at the problem that the optimal gradient projection algorithm does not necessarily have the optimal solution in solving the inverse kinematics problem of redundant wire-laying manipulator, a topological manifold algorithm is proposed. The configuration space of the redundant wire-laying manipulator is regarded as a smooth manifold. The position inverse solution and the attitude inverse solution are decoupled. Then the corresponding simulation topological manifolds are obtained by simulating the position submanifolds and attitude submanifolds respectively. This method can abstract the kinematics problem of the wire laying manipulators into the curved surface topological manifolds in mathematics. It provides a theoretical basis for the kinematics analysis of the wire laying manipulator on manifold, and also provides a new method for the optimization of self-motion control of the subsequent filamentous manipulator. Finally, the paper takes the S-shaped inlet of the aircraft as an example to carry out the simulation. The correctness of the proposed method is verified.
【作者單位】： 南京航空航天大學(xué)機(jī)電學(xué)院;
【基金】：國(guó)家重點(diǎn)基礎(chǔ)研究發(fā)展計(jì)劃(973計(jì)劃)項(xiàng)目(2014CB046501)
【分類號(hào)】：TP241
，
本文編號(hào)：1552943
本文鏈接：http://sikaile.net/kejilunwen/zidonghuakongzhilunwen/1552943.html
本文關(guān)鍵詞： 機(jī)械手 冗余 拓?fù)?流形 進(jìn)氣道 出處：《農(nóng)業(yè)機(jī)械學(xué)報(bào)》2017年06期 論文類型：期刊論文
【摘要】：針對(duì)優(yōu)化的梯度投影算法在冗余鋪絲機(jī)械手逆運(yùn)動(dòng)學(xué)求解問題中不一定存在最優(yōu)解的問題,提出了一種拓?fù)淞餍嗡惴�。將冗余鋪絲機(jī)械手的位形空間看作一個(gè)光滑流形,對(duì)耦合的位置逆解和姿態(tài)逆解進(jìn)行解耦,然后分別針對(duì)位置子流形和姿態(tài)子流形進(jìn)行仿真分析得到其相應(yīng)的仿真拓?fù)淞餍巍Ｔ摲椒ǹ梢詫伣z機(jī)械手的運(yùn)動(dòng)學(xué)問題抽象為數(shù)學(xué)中的曲面拓?fù)淞餍蝸硌芯?為鋪絲機(jī)械手運(yùn)動(dòng)學(xué)在流形上分析提供了理論基礎(chǔ),同時(shí)也為后續(xù)鋪絲機(jī)械手的最優(yōu)化自運(yùn)動(dòng)控制提供了一種新的方法。最后以飛機(jī)S形進(jìn)氣道為例進(jìn)行仿真,驗(yàn)證了所提方法的正確性。
[Abstract]:Aiming at the problem that the optimal gradient projection algorithm does not necessarily have the optimal solution in solving the inverse kinematics problem of redundant wire-laying manipulator, a topological manifold algorithm is proposed. The configuration space of the redundant wire-laying manipulator is regarded as a smooth manifold. The position inverse solution and the attitude inverse solution are decoupled. Then the corresponding simulation topological manifolds are obtained by simulating the position submanifolds and attitude submanifolds respectively. This method can abstract the kinematics problem of the wire laying manipulators into the curved surface topological manifolds in mathematics. It provides a theoretical basis for the kinematics analysis of the wire laying manipulator on manifold, and also provides a new method for the optimization of self-motion control of the subsequent filamentous manipulator. Finally, the paper takes the S-shaped inlet of the aircraft as an example to carry out the simulation. The correctness of the proposed method is verified.
【作者單位】： 南京航空航天大學(xué)機(jī)電學(xué)院;
【基金】：國(guó)家重點(diǎn)基礎(chǔ)研究發(fā)展計(jì)劃(973計(jì)劃)項(xiàng)目(2014CB046501)
【分類號(hào)】：TP241
，
本文編號(hào)：1552943
本文鏈接：http://sikaile.net/kejilunwen/zidonghuakongzhilunwen/1552943.html
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