计算机应用与软件2013，Vol.30Issue(5)：140-144,5.DOI:10.3969/j.issn.1000-386x.2013.05.040
基于DCNLP的机器手臂最优化控制及拉格朗日因子研究
A STUDY ON MANIPULATOR ARM OPTIMAL CONTROL AND LAGRANGE MULTIPLIER USING DCNLP
摘要
Abstract
In order to have the manipulator arm consummately complete the established caregiving works of medical arm supporting and propping while minimising the energy consumption,aiming at two basic motions of manipulator arm' s medical caregiving,the interception catch and the docking capture,we describe and establish the dynamics equation for manipulator arm,construct case model,and introduce optimal control technology respectively,we scatter the optimal control problem and make digital solution to obtain the optimal solution； Moreover,based on the above working basis,and aiming at the Lagrange multiplier which recounting the relationship between the energy consumption J and the tiny abnormal motion of each restriction equation,we thoroughly discuss the different performances of the Lagrange multipliers in two cases.Analyses derived from the cases results demonstrate that,DCNLP method performs well in robustness in contrast to the traditional method used for solving energy consumption optimisation,it has lower requirement on initial estimation.The discuss result can provide active suggestion for manipulator arm in terms of the way to better complete the required operation.关键词
直接定位/机器手臂/最优化控制/拉格朗日因子Key words
Direct localisation/ Manipulator arm/ Optimal control / Lagrange multiplier分类
信息技术与安全科学引用本文复制引用
潘修强,梅成才,陈军杰..基于DCNLP的机器手臂最优化控制及拉格朗日因子研究[J].计算机应用与软件,2013,30(5):140-144,5.基金项目
浙江省教育厅科研资助项目(Y201224238) （Y201224238）
