机器人机械手可重复逆运动学求解方法的比较

IF 1.2 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Archives of Control Sciences Pub Date : 2023-07-20 DOI:10.24425/119074

I. Dulęba, I. Karcz-Dulęba

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引用次数: 4

摘要

本文比较了求解可重复逆运动任务的两种最新方法。这两种方法有很大的不同，尽管它们都是基于优化技术。前者基于连续方法的范例，而后者则利用了连续逼近的优势。根据所提供结果的质量和其他定量和定性因素对这些方法进行比较。为了得到一个有统计价值的比较，我们收集了一些数据，对不同路径、初始配置和冗余度的摆机器人进行了仿真。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A comparison of methods solving repeatable inverse kinematics for robot manipulators

In this paper two recent methods of solving a repeatable inverse kinematic task are compared. The methods differ substantially although both are rooted in optimization techniques. The first one is based on a paradigm of continuation methods while the second one takes advantage of consecutive approximations. The methods are compared based on a quality of provided results and other quantitative and qualitative factors. In order to get a statistically valuable comparison, some data are collected from simulations performed on pendula robots with different paths to follow, initial configurations and a degree of redundancy.

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来源期刊

Archives of Control Sciences Mathematics-Modeling and Simulation

CiteScore

2.40

自引率

33.30%

发文量

审稿时长

14 weeks

期刊介绍： Archives of Control Sciences welcomes for consideration papers on topics of significance in broadly understood control science and related areas, including: basic control theory, optimal control, optimization methods, control of complex systems, mathematical modeling of dynamic and control systems, expert and decision support systems and diverse methods of knowledge modelling and representing uncertainty (by stochastic, set-valued, fuzzy or rough set methods, etc.), robotics and flexible manufacturing systems. Related areas that are covered include information technology, parallel and distributed computations, neural networks and mathematical biomedicine, mathematical economics, applied game theory, financial engineering, business informatics and other similar fields.