| 超冗余度机械手自律分散控制算法 |
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| 引用本文： | 李春梅,杜正春,颜景平,颜玉玲.超冗余度机械手自律分散控制算法[J].东南大学学报,2000,16(1):41-45. |
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| 作者姓名： | 李春梅 杜正春 颜景平 颜玉玲 |
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| 作者单位： | 东南大学机械工程系,南京,210096,日本Keio大学系统设计工程系 |
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| 摘 要： | 介绍了一种超冗余度机械手的控制算法,它采用自律分散控制方法来指导冗余度机械手末端执行器的运动,实现做功最小,从而避免采用需复杂计算的求逆解的方法,大大简化了机械手的算法和控制,具有高度的鲁棒性和容错性.，The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved.
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| 关 键 词： | 冗余度机械手 自律分散控制 鲁棒性 容错性 highly redundant robot manipulators decentralized autonomous control robustness，冗余度机械手 自律分散控制 鲁棒性 容错性 highly redundant robot manipulators decentralized autonomous control robustness |
A Decentralized Autonomous Control on Highly Redundant Robot Manipulators |
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| Abstract: | The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved. |
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| Keywords: | highly redundant robot manipulators decentralized autonomous control robustness fault tolerance |
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