作　　者： ; ; ;

机构地区： 湖南大学电气与信息工程学院

出　　处： 《计算机测量与控制》 2010年第12期2836-2838,2845,共4页

摘　　要： 针对循环坐标下降法(Cyclic-Coordinate Descent,CCD)只能处理各关节运动关系相对独立的开链式机械臂控制问题,阐述了一种改进的CCD算法,并研究了约束条件下CCD法的有效性和收敛性问题;研究结果表明,当关节之间存在运动耦合关系时破坏了CCD法的收敛性,各关节变量初始取值存在一个临界收敛角度;改进CCD法的收敛条件是:关节变量初始值应限定在无约束条件下运动学反解附近;最后以一个有关除冰机器人运动学问题为实例,计算结果验证了相关结论。 As CCD algorithm can only handle inverse kinematic problems of open-loop manipulator with independent joints,a modified algorithm suitable was developed,and the effectiveness and convergence of CCD algorithm with constraints were discussed.The results showed that motion-coupled joints may damage the algorithm convergence.Trial values of joint angles had a critical convergence value in calculation.For a better convergence,trial values of joint angles should be limited at the neighborhood of inverse kinematic solutions without constraints.Finally,an example of inverse kinematics of de-icing robot was given,which could confirm the conclusions of this paper.

关 键 词： 除冰机器人 输电线 运动学反解 算法

领　　域： [机械工程]