高速绳牵引并联摄像机器人冗余驱动力优化求解

摘要

Determination of redundant tension distribution for completely restrained positioning mechanism is transformed into a polynomial formulation extreme value problem in the convex feasible domain in this paper;and the real-time and continuous indices for measuring cable tension optimization solutions is also presented.A typical cable tension optimal distribution of the CDPCR is determined in order to provide an insight into the problem,so that the real-time and continuity of several tension optimal indices are compared and analyzed.Furthermore,concrete suggestions of index selection are given.%将完全约束绳牵引并联机构的冗余驱动求解问题转化为凸可行域上的多项式极值问题，提出了衡量驱动优化求解连续性和实时性的指标。通过对一个典型的摄像机器人驱动力分布优化问题的求解，对比分析了几种驱动力优化指标的实时性与连续性，并给出了指标选取的具体建议。