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Chinese Academy of Sciences Institutional Repositories Grid
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  2. 合肥物质科学研究院
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  4. 中科院合肥物质科学研究院先进制造技术研究所
A dual-mode online optimization method for trajectory tracking of redundant manipulators

文献类型：期刊论文

作者Fang, Jian1,2; Mei, Tao3; Zhao, Jianghai1,2; Li, Tao2
刊名INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
出版日期2016
卷号43期号:2页码:241-252
关键词Online Optimization Dual-mode Optimal Scheme Redundant Manipulator Torque Constraints
DOI10.1108/IR-07-2015-0135
文献子类Article
英文摘要Purpose - The purpose of this paper is to present a dual-mode online optimization method (OOM) for trajectory tracking of the redundant manipulators. This method could be used to resolve the problem of the kinematics redundancy effectively when the manipulator moves in a limited space or its movements go through a singular point.
WOS关键词NEURAL-NETWORK ; ROBOT MANIPULATORS ; NONLINEAR OPTIMIZATION ; TORQUE OPTIMIZATION ; INVERSE KINEMATICS ; OBSTACLE AVOIDANCE ; SCHEME ; MINIMIZATION ; FORMULATION ; RESOLUTION
WOS研究方向Engineering ; Robotics
语种英语
WOS记录号WOS:000379680300012
资助机构Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; Natural Science Foundation of Jiangsu province(BK2012587) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of Science and Technology Support Plan of Jiansu province(BE2013003) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469) ; project of National Nature Science Foundation of China(51405469)
源URL[http://ir.hfcas.ac.cn/handle/334002/21210]  
专题合肥物质科学研究院_中科院合肥物质科学研究院先进制造技术研究所
作者单位1.Univ Sci & Technol China, Dept Precis Machinery & Precis Instrumentat, Hefei, Peoples R China
2.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg Technol, Changzhou, Peoples R China
3.Univ Sci & Technol China, Dept Automat, Hefei, Peoples R China
推荐引用方式
GB/T 7714		 Fang, Jian,Mei, Tao,Zhao, Jianghai,et al. A dual-mode online optimization method for trajectory tracking of redundant manipulators[J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,2016,43(2):241-252.
APA Fang, Jian,Mei, Tao,Zhao, Jianghai,&Li, Tao.(2016).A dual-mode online optimization method for trajectory tracking of redundant manipulators.INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,43(2),241-252.
MLA Fang, Jian,et al."A dual-mode online optimization method for trajectory tracking of redundant manipulators".INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 43.2(2016):241-252.

入库方式： OAI收割

来源：合肥物质科学研究院

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