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AN APPROACH TO THE GLOBAL OPTIMAL CONTROL OF REDUNDANT ROBOTS
Author(s): 
Pages: 81-85
Year: Issue:  2
Journal: ROBOT

Keyword:  冗余度机器人全局优化自运动;
Abstract: 提出一种冗余度机器人全局优化的新方法.通过引入自运动变量,为冗余度机器人全局优化问题建立了一个简单泛函极值模型,并由此导出了响应的全局优化算法.这种方法建模简单,计算量小,能实现冗余度机器人全局优化的实时控制.
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