Real-time force optimization in parallel kinematic chains under inequality constraints
Real-time force optimization in parallel kinematic chains under inequality constraints
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DOI：
10.1109/robot.1991.131956
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发表时间：
1991-04
期刊：
影响因子：
--
通讯作者：
M. Nahon;J. Angeles
中科院分区：
文献类型：
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作者：
M. Nahon;J. Angeles
实时控制的合作机械手，机械手，步行机涉及到一个欠定力系统的等式和不等式约束的优化。不等式约束是由于系统中的被动摩擦接触而产生的，这些摩擦接触依赖于力传递，或者当考虑到致动器的有限扭矩或力能力时。由于力优化的结果用于向致动器提供力或扭矩设定点，因此它们必须真实的实时获得。本文提出了一种求解带有等式和不等式约束的二次优化问题的方法。该技术与线性规划进行了比较，以显示其在速度和解决方案的质量方面的上级性能。
The real-time control of cooperating manipulators, mechanical hands, and walking machines involves the optimization of an underdetermined force system subject to both equality and inequality constraints. The inequality constraints arise as a result of passive frictional contacts in systems that depend on these for force transmission, or when taking into account the limited torque or force capability of the actuators. Since the results of the force optimization are used to provide force or torque setpoints to the actuators, they must be obtained in real time. A technique is presented for solving a quadratic optimization problem with equality and inequality constraints for this application. The technique is compared with linear programming to show its superior performance in terms of speed and the quality of the solution.>