摘要
重点分析了Gosselin提出的全域性能指标η,针对其不足提出了改进和完善的措施.提出了全域运动性能波动指标σ,并建议将改进后的全域综合性能参数作为机器人尺度优化设计的目标函数.最后通过算例证明其有效性.
The global performance index η presented by Goaselin is analyzed, and a better method is introduced to overcome its deficiency. Then the authors present a global performance fluctuating index σ, and suggest that the new integrated global performance index should be used as the objective function to optimize the dimensions of robotic manipulators. At last, an effective example is provided to illustrate the feasibility of the proposed method.
出处
《机器人》
EI
CSCD
北大核心
2005年第5期420-422,共3页
Robot
基金
国家自然科学基金资助项目(50275070)
教育部高校骨干教师计划资助项目
关键词
可操作性
全域性能
条件数
manipulability
global performance
condition number
