计算机与现代化Issue(2)：56-60,5.DOI:10.3969/j.issn.1006-2475.2012.02.016
自由浮动空间冗余度机械臂避奇异规化的混沌运动抑制控制
Chaos Suppression Control for Free-floating Space Redundant Manipulator during Avoidance Singularity
袁文翀 1王从庆 2武和雷 1刘秀超2
作者信息
- 1. 南昌大学信息工程学院,江西南昌 330029
- 2. 南京航空航天大学自动化学院,江苏南京 210016
- 折叠
摘要
Abstract
A Generalized Jacobian Matrix of the free-floating apace redundant manipulator is derived. The kinematics manipulable measuring for avoidance singularity is used as a target function based on gradient projection. Avoidance singularity planning is realized by joint space self-motion in null space. Numerical computing results show the self-motion is chaos state, which can be suppressed by state delayed feedback control. The joint movement is to stabilize a cyclic trajectory during avoidance singularity motion planning.关键词
空间冗余度机械臂/运动规划/避奇异/混沌运动控制Key words
redundant space manipulator/motion planning/avoidance singularity/chaotic motion control分类
信息技术与安全科学引用本文复制引用
袁文翀,王从庆,武和雷,刘秀超..自由浮动空间冗余度机械臂避奇异规化的混沌运动抑制控制[J].计算机与现代化,2012,(2):56-60,5.
