Analyse And Control Of Redundant Arms Of Power-On-Live Robot

Analyze and study the negative kinematics equation of Redundant Robot, and put forward Damp Projection Grads with the extremum method confirming the optimization algorithm's gen and speed being errendated at the acceleration level; Confirm the several rational optimization guidelines through analysing the existing several ones; Realize the syncretic multitarget control of redundant robot by the weighted linear method. Thereinto, standardizatior. method disposal the grads vector of the singled guideline, and fuzzy inference method or movement forecast method confirm the weight, movement forecast method dynamically the PRI of singled guideline. Through the adjusting of PRI, the weighted linear method can harmonize among the optimization of singled guidelines and achieve the syncretic multitarget control. Put forward the fixing plane-fixing position-fixing orientation analyse thought to the workspace of redundant robot and confirm' the workspace of power-on-live robot by the three views mothed; Resolve the joints movement range of power-on-live Robot by the method, which is a method based on the work plane classified method and others analyses methods and is brought forward by the article. The method transfers the three-dimensional analyses of joints movement range of robot to two-dimensional analyses. Through the restriction of joints of robot in work planes, the method classifies the work planes of robot and finally predigests the joints movement range of robot to the analyses only in the several work planes and only to several joints of robot.