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Method of command control for interactive path guidance of kinematically- redundant manipulator
Method of command control for interactive path guidance of kinematically- redundant manipulator
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机译:运动冗余机械手交互式路径引导的命令控制方法
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摘要
Beginning with a successive commanded end-effector destination shift, the method of the invention, which includes a calculation corresponding to a special algorithm of inverse kinematics using the Jacobi Matrix in the control of a manipulator, effects an optimization of weighted criteria (energy criteria and reference-position criteria) in a real time cycle. The method of the invention can be used in interactive path guidance of a kinematically-redundant manipulator.
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