مقاله بکار گیری طرح ترکیبی چند هدفه که برای دستکاری کنندگان ربات اضافی

عنوان مقاله فارسی: بکار گیری طرح ترکیبی چند هدفه که برای دستکاری کنندگان ربات اضافی عنوان مقاله لاتین: A Hybrid Multi-Objective Scheme Applied to Redundant Robot Manipulators نویسندگان: Dechao Chen; Yunong Zhang تعداد صفحات: 13 سال انتشار: 2017 زبان: لاتین Abstract: In this paper, a hybrid multi-objective scheme is proposed to complete simultaneously four objectives, i.e., the specified primary task for the end-effector, obstacle avoidance, joint-physical limits avoidance, and repetitive motion of redundant robot manipulators. In addition, corresponding theoretical analysis is given, which guarantees the validity of the proposed scheme. Then, the proposed hybrid multi-objective scheme is reformulated as a dynamical quadratic program (DQP) problem. The optimal solution of the DQP problem is found