A new method of peak torque reduction with redundant manipulators
A new method of peak torque reduction with redundant manipulators
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一种利用冗余机械手降低峰值扭矩的新方法
DOI：
10.1109/70.650163
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
J. Zu
中科院分区：
文献类型：
--
作者：
Degao Li;A. Goldenberg;J. Zu
本文针对运动冗余机械臂开发了一种旨在降低峰值扭矩的新方法。该方法考虑了速度和加速度对关节扭矩的贡献。该方法不是最小化当前站点的关节扭矩或动能，而是始终使用当前扭矩来接近后续站点的最佳速度，这与关节加速度一起最小化后续站点的扭矩，同时将当前扭矩保持在限制范围内。对三种情况进行了仿真，结果表明该方法相对于传统的扭矩优化和能量最小化方法具有明显的优越性。
A new method aiming at reducing peak torques is developed in this paper for kinematically redundant manipulators. The method considers the contributions of both velocity and acceleration to the joint torque. Instead of minimizing the joint torque or kinetic energy at the current station, the method always uses the current torque to approach an optimum velocity of the following station, which, along with joint acceleration, minimizes the torque of the following station, while at the same time keeps the current torque within the limits. Simulations are conducted for three cases and the results show the clear superiority of the proposed method over the conventional torque optimization and energy minimization methods.
DOI：
10.1115/1.3139652
发表时间：
1981-01-01
影响因子：
1.7
作者：
RAIBERT, MH;CRAIG, JJ
通讯作者：
CRAIG, JJ