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首页> 外文期刊>Journal of robotic systems >Pose Optimization of Serial Manipulators Using Knowledge of Their Velocity-Degenerate (Singular) Configurations
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Pose Optimization of Serial Manipulators Using Knowledge of Their Velocity-Degenerate (Singular) Configurations

机译：使用速度退化（奇异）配置知识的串行机械手姿势优化

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This work investigates the exploitation of velocity-degenerate configurations to optimize the pose of either nonredundant or redundant serial manipulators to sustain desired wrenches. An algorithm is developed that determines a desirable start point for the optimization of a serial manipulator's pose. The start-point algorithm (SPA) uses analytical expressions of the velocity-degenerate (singular) configurations of a serial manipulator to determine a pose that would be best suitable to sustain a desired wrench. Results for an example redundant serial manipulator are presented. The example results show that by using the SPA with the optimization routine, the resulting poses obtained require less effort from the actuators when compared to the poses obtained without using the SPA. It is shown that when no constraint is imposed on the position of the end-effector, the SPA excels at providing a better solution with less iterations than running the optimization without the SPA.
机译：这项工作研究了速度退化配置的开发，以优化非冗余或冗余串行机械手的姿势以维持所需的扳手。开发了一种算法，该算法可以确定优化串行操纵器姿势的理想起点。起点算法（SPA）使用串行操纵器的速度退化（奇异）配置的解析表达式来确定最适合支撑所需扳手的姿势。给出了示例冗余串行操纵器的结果。示例结果表明，与不使用SPA所获得的姿势相比，通过将SPA与优化例程一起使用，所获得的最终姿势所需的执行器所需的精力更少。结果表明，当不对末端执行器的位置施加任何约束时，与不使用SPA进行优化相比，SPA擅长提供迭代次数更少的更好解决方案。

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