针对解决轮式移动机械臂在复杂环境中执行灵巧作业的需求,开展了面向冗余轮式移动机械臂的考虑任务优先级的位形优化研究。首先建立了整机运动学模型,然后基于任务优先级框架开展了面向车-臂双轨迹跟踪、避奇异位形、避关节极限等多任务目标的位形优化的研究,最后进行了复杂工况仿真,验证了方法的有效性。
In order to solve the need of wheeled mobile manipulator to perform dexterous work in complex environments, a configuration optimization study considering task priority for redundant wheeled mobile manipulator was carried out. Firstly, the kinematics model of the whole machine is established. Then, based on the task priority framework, the research on configuration optimization for multi task targets such as vehicle arm dual track tracking, avoiding odd and abnormal shapes, and avoiding joint limits is carried out. Finally, the simulation of complex working conditions is carried out to verify the effectiveness of the method. (2024-03-14, matlab, 0KB, 下载4次)
车辆合作框架
Framework for vehicle cooperation (2023-12-18, matlab, 0KB, 下载4次)
介绍变分法和庞特里亚金原理，并举例说明时间最优河流穿越...
Introduction to Calculus of Variations and Pontryagin s Principle with an illustration of time optimal river crossing problem (2021-08-15, matlab, 17717KB, 下载0次)
双摆的最优控制
Optimal control of a double pendulum (2022-01-07, matlab, 4KB, 下载0次)
庞特里亚金非线性最优控制实例
pontryagin nonlinear optimal control example (2019-09-09, matlab, 2KB, 下载0次)
基于庞特里亚金最小值原理的混合动力电动汽车动力总成优化能量管理规范...
Code for optimal energy management of a hybrid electric vehicle powertrain based on Pontryagin s Minimum Principle (PMP). Code was written as part of the final project for KAIST s "Introduction to Optimal Control" course (AE551). (2021-01-29, matlab, 1418KB, 下载0次)
从“基于...的三维两足行走控制”实现连续双支撑DCM轨迹...
Implementation of continuous double support DCM trajectories from "Three- dimensional bipedal walking control based on divergent component of motion" in matlab (2020-03-20, matlab, 156KB, 下载0次)
运动控制系统双S轨迹的计算
Calculation of a Double S Trajectory for Motion Control Systems (2022-10-09, matlab, 37KB, 下载0次)
“平衡计算速度和质量：合作车道变更的分散运动规划方法”的代码...
Codes for "Balancing Computation Speed and Quality: A Decentralized Motion Planning Method for Cooperative Lane Changes of Connected and Automated Vehicles" (2018-11-29, matlab, 7553KB, 下载0次)