A novel formulation for determining joint constraint loads during optimal dynamic motion of redundant manipulators in DH representation

摘要: The kinematic representations of general open-loop chains in many robotic applications are based on the Denavit–Hartenberg (DH) notation. However, when DH representation is used for modeling, relative joint constraints cannot be described explicitly using common formulation methods. In this paper, we propose a new solving system differential-algebraic equations (DAEs) where method Lagrange multipliers incorporated into optimization problem optimal motion planning redundant manipulators. particular, set fictitious joints modeled to solve constraint forces and moments, as well dynamic required actuator torques manipulators representation. proposed formulated within framework our earlier study generation load-effective motions that guarantee successful execution given tasks which Lagrangian dynamics external loads incorporated. Some example simple planar manipulator high-degree-of-freedom digital human model illustrated, results show accurate calculation without altering original planned motion. satisfies equivalent DAEs.