Improving dynamic performance of bi-articularly actuated robot arms by using infinity norm based actuation redundancy resolution
Improving dynamic performance of bi-articularly actuated robot arms by using infinity norm based actuation redundancy resolution
复制标题
通过使用基于无穷大范数的驱动冗余分辨率来提高双关节驱动机器人手臂的动态性能
DOI：
10.1109/aim.2013.6584212
复制
发表时间：
2013
期刊：
影响因子：
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通讯作者：
T. Koseki
中科院分区：
文献类型：
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作者：
V. Salvucci;T. Koseki
双关节致动器，即跨越两个关节的致动器，正在为解决传统机器人手臂的已知限制而获得普及。由于双关节致动器的存在而产生的致动器冗余增加了稳定性，将机械能从近端关节传递到远端关节，并且降低了末端执行器力作为力方向的函数的非线性。研究了在动力学条件下，用无穷范数优化准则求解双关节驱动机器人冗余度的优越性。通过仿真比较了具有封闭解的无穷范数方法和基于伪逆矩阵的方法。当使用基于无穷范数的方法时，在相同的机器人臂动力学下，所需的最大关节致动器减少;并且在相同的关节致动器限制下，可实现的最大末端执行器加速度增加。
Bi-articular actuators, actuators spanning two joints, are gaining popularity for solving the known limitations of conventional robot arms. Actuator redundancy resulting from the presence of bi-articular actuators increases stability, transfers mechanical energy from proximal to distal joints, and decreases the non-linearity of the end effector force as a function of force direction. In this paper, advantages of infinity norm optimization criteria for actuator redundancy resolution of bi-articularly actuated robot arms is investigated under dynamic conditions. The infinity norm approach with closed form solution is compared with the pseudo inverse matrix based methods by simulation means. When using the infinity norm based approach, under the same robot arm dynamics, the required maximum joint actuator is reduced; and under the same joint actuator limitations the achievable maximum end effector acceleration is increased.
双关节同步驱动坐标变换控制二连杆机械臂直线运动
DOI：
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发表时间：
2010
期刊：
影响因子：
--
作者：
Hiroyuki Fukusho;Takahiro Sugimoto;Takafumi Koseki
通讯作者：
Takafumi Koseki