An Optimization Algorithm for Redundant 7R Robot
Education Technology and Computer Science, 2009. ETCS '09. First International Workshop（2009）
摘要
The optimization algorithm for redundant 7R serial robot is studied. Use Devavit-Hartenberg matrix to set up a 4 times 4 matrix form closed-form equation of the 7R robot and regard the minimum condition number of the 5 times 5 Jacobian matrix as the control indices for the given 5 constrains of the end-effector in the industry requirement. Change the two joint angles thetas0 and thetas3 and use Newton iteration method to approach and optimize. Seek the minimum condition number of the other five joint anglespsila Jacobian matrix to complete the redundant optimization and obtain the optimum work status. The algorithm is validated by a group of simulation data.
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关键词
optimisation,newton iteration method,robot kinematics,computer outnumber,newton method,end effectors,jacobian matrix,optimization algorithm,minimum condition number,redundant 7r robot,devavit-hartenberg matrix,industrial robots,closed-form equation,end-effector,kinematical optimization,basic capability,jacobian matrices,condition number,educational robots,closed form equation,robot control,end effector,optimization,kinematics,robots,educational technology,newton iteration
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