Abstract: A new pseudoinverse-based optimization scheme for five-degree-of-freedom redundant manipulators is proposed. Using an adjustable coefficient, the scheme combines the Minimum Velocity Norm（MVN） scheme and the Minimum Acceleration Norm（MAN） scheme to realize the optimal control of redundant robot manipulators. Such an optimal scheme can achieve the minimization of joint-velocity norm and joint-acceleration norm at the same time. Besides, the proposed optimization scheme can also make the joint velocity of the robot manipulator to be near zero at the end of the motion. Computer simulation results further verify the feasibility and the superiority of the proposed optimal control scheme.

Key words: redundant robot manipulators, pseudoinverse, weighted combination, optimal control

摘要： 针对五自由度冗余机械臂，提出了一种新的基于伪逆的优化控制方法：利用一个可调权值因子，将最小速度范数方法（加速度层）和最小加速度范数方法进行加权组合，来实现对冗余机械臂的运动控制。该优化方法可以实现关节速度范数和关节加速度范数的同时最小化，而且使得机械臂的关节速度在运动末态时接近零。计算机仿真结果进一步验证了所给出的优化控制方法的可行性和优越性。

关键词: 冗余机械臂, 伪逆, 加权组合, 优化控制