稳定性和终态自运动是动力学优化中的难点。
A method based on quadratic performance index is proposed to plan self-motion trajectories of planar redundant manipulators.提出一种基于二次型性能指标的方法,用于规划平面冗余机械臂的自运动轨迹。
Then we do another experiment on self-motion of the redundant robot arm in order to testify the above presented control method.其次,基于冗余手臂的自运动,对冗余度手臂控制系统进行了控制方法的实验研究。