避免关节极限的加权最小范数与梯度投影相结合的方法

2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI:10.1109/URAI.2011.6146022

S. Park, W. Chung

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引用次数: 4

摘要

提出了加权最小范数(WLN)和梯度投影(GP)相结合的避免联合极限的方法。WLN具有可操作性较低的局限性。GP也缺乏可靠性。利用两种方法的优点，我们将两种方法结合起来，并进行了数值模拟。仿真结果表明了两种方法的优越性。

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Combined method of weighted least norm and gradient projection for avoiding joint limit

This paper proposes the combined method of weighted least norm (WLN) and gradient projection (GP) for avoiding joint limit. WLN has the limitation of lower manipulability. Also GP has lack of reliability. Taking the advantages of both methods, we combined two methods and also performed numerical simulation. The simulation result shows the advantages of both methods.

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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