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《JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS》 1998-05
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Research on Dynamic Optimization Control of Redundant Manipulators

Chen Weihai Zhang Qixian Yang Zongxu Li Jian (Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering)  
Stability and end state self motion are important and difficult points. To solve these difficulties that exist in dynamic optimization of redundant manipulators, this paper deeply researched the inner relation and contradictory conflict between the dynamic optimization and the joint velocities, a new idea to raise the general quality of dynamic optimization by means of optimizing joint velocities is presented; A scheme resulted from adjusting joint velocity homogeneous item in real-time is developed to effectively improve stability and joint velocities at end of motion to be near zero; Computer simulations verified the proposed approach to be very useful and efficient.
【Fund】: 航天863计划 国家自然科学基金
【CateGory Index】: TP24
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【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 Liu Yingchun;Yu Yueqing (College of Mechanical Engineering and Applied Electronics Technology, Beijing Polytechnic University, Beijing 100022 );Dynamics Modeling and Emulating of Flexible Coordinated Manipulators[J];Journal of Beijing Polytechnic University;2000-S1
2 CHEN Zhi-xiang, HUANG Yong, LU Zhen-yang, YIN Shu-yan ( College of Material Science and Engineering, Beijing Polytechnic University, Beijing 100022, China );Kinematic Solution of Arc Welding Robot System[J];Journal of Beijing Polytechnic University;2002-03
3 LI Jian-feng, ZHANG Yu-ru, WANG Xin-hua WEI Yuan-qian, WU Liang-sheng, WU Guang-zhong ( 1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China; 2. Beijing University of Aeronautics and Astronautics, Beijing 100083, China );General Kinematic Solution and Mobility Analysis of Multi-fingered Hand Manipulation System[J];Journal of Beijing Polytechnic University;2003-03
4 LIU Qi guang 1, GE Xin sheng 2 (1.Departmemt of Mechanical Engineering,Beijing Institute of Machinery,Beijing 100085,China; 2.Division of Basic Courses, Beijing Institute of Machinery, Beijing 100085,China);Spinor-matrix equations in a robot dynamics[J];Journal of Beijing Institute of Machinery;2001-03
5 CHEN You dong FAN Rui CHEN Wu yi CHEN Ding chang (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation);Equation for Grinding Ball Nose Mill in the Five-Axis Machine[J];Journal of Beijing University of Aeronautics and Astronautics;2002-03
6 HAN Xian guo CHEN Wu yi CHEN Ding chang (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation);Method to Get the Forward Solution of a 6-SPS Parallel Manipulator Based on Position Tracking Principle[J];Journal of Beijing University of Aeronautics and Astronautics;2002-03
7 Hu Lei Gao Yifei Wang Tianmiao(School of Mechanical Engineering and Automation, Beijing Univers ity of Aeronautics and Astronautics, Beijing 100083, China) Wang Manyi(Department of Traumatology and Orthopaedics, Beijing Jishuitan H ospital, Beijing 100035, China);Application of orthopaedic robotics[J];Journal of Beijing University of Aeronautics and Astronautics;2005-04
8 Shao Zhiyu(School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics,Beijing 100083,China)Sun Hanxu Jia Qingxuan Ye Ping(School of Automation,Beijing University of Post and Telecommunications,Beijing 100876,China);Optimization method for model of robot sphere-wrist[J];Journal of Beijing University of Aeronautics and Astronautics;2006-12
9 DING Hong-sheng,FU Da-wei,FU Tie (School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China);Optimization of Structural Parameters of Variable-Axes NC Machine Tool BKX-Ⅰ[J];Journal of Beijing Institute of Technology;2004-04
10 JI Ting,SUN Han-xu(Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China);A Simplified Approach to Inverse Kinematics Solution for a Modular Robot[J];Journal of Beijing University of Posts and Telecommunications;2004-S2
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 CHEN Wei hai WU Zhen DING Xi lun ZHANG Qi xian (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation);Research on Fault-Tolerant Control of Dynamically Redundant Manipulators[J];Journal of Beijing University of Aeronautics and Astronautics;2000-06
2 GUO Zu hua CHEN Wu yi CHEN Ding chang (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation);Simulation Analysis on Kinematics and Force of Hexapod[J];Journal of Beijing University of Aeronautics and Astronautics;2001-01
3 Li Luya\ Zhang Qixian\ Liu Yabin\ Chen Weihai (Beijing University of Aeronautics and Astronautics,Dept.of Mechanical and Electrical Engineering);KINEMATIC STABILITY ANALYSIS IN FORCE CONTROL FOR REDUNDANT ROBOTS[J];JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS;1997-04
4 Chen Weihai Li Jian Zhang Qixian Yang Zongxu (Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering);Research on Dynamic Optimum Control Based on Minimum Principle for Redundant Manipulators[J];JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS;1999-01
5 LIU Hui lin, ZHANG Tong zhuang, DING Hong sheng (School of Mechanical Engineering and Automation, Beijing Institute of Technology, Beijing100081);Forward Solutions of the 3-RPR Planar Parallel Mechanism with Wu's Method[J];JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY;2000-05
6 Han Lin Wen Fuan Liang Chonggao(Department of Mechanical and Electronic Engineering,Beijing University of Posts and Telecommunications, Beijing 100876);Forward Displacement Analysis of the 65 Stewart Platform[J];JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS;1998-02
7 JIN Zhen-lin 1, GAO Feng 2, LIU Xin-jun 1 (1.School of Mechanical Engin.,Yanshan University,Qinhuangdao 066004, China; 2.Hebei University of Technology, Tianjin 300130, China);Novel decoupled and isotropic 6-axis force/torque robot sensor[J];JOURNAL OF TRANSDUCER TECHNOLOGY;2000-04
8 YU Xiao liu 1, WANG Qi yi 1, ZHAO Ming yang 2, ZOU Hao 1, QIAN Fang mei 3 (1.?School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110006,China;?2.?Shenyang Institute of Automation, the Chinese Academy of Science;Design Research and Error Analysis on Four Axis Instrumentation[J];JOURNAL OF NORTHEASTERN UNIVERSITY;2000-04
9 Zhao Tieshi Huang Zhen (The College of Mechanical Engineering, Yanshan University, Qinhuandao 066004).;Position Kinematics of a Three-DOF 3-RPS Pyramid Mechanism[J];JOURNAL OF YANSHAN UNIVERSITY;2000-01
10 Huang Zhen Fang Yuefa Machinary Engineering Institute;The Subspace of Rotational Axes of 3-DOF Pyramid Parallel Mechanisms[J];;1997-02
【Secondary References】
Chinese Journal Full-text Database 2 Hits
1 BAI Zhi-fu,CHEN Wu-yi(School of Mechanical Engineering & Automation,Beihang University,Beijing100083,China);On the Non-singular Path between Different Forward Kinematic Configurations of Parallel Mechanisms[J];Robot;2006-05
2 YANG Jian-xin,YU Yue-qing (College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100022,China);Dynamic Analysis of a Novel Planar 3-DOF Redundant Parallel Manipulator[J];Machine Design and Research;2005-05
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