表面改性冗余机器人关节动能的流形分析

According to the present situation on redundant robot joint manifold algorithm research,a Chris Tuofoer matrix function and geodesic analysis algorithm has been proposed for surface modification of redundant robot kinetic stability in manifold. By using the first-order variational equation,Chris Tuofoer matrix function group and special Euclidean geodesic equations has been obtained,and then we calculated the Riemann metric obtained after Riemann gradient using the initial conditions.With Riemann and Chris Tuofoer gradient matrix function,the special Euclidean group on the contraction,stability in manifold analysis joint the motion of redundant robots kinetic energy can be defined.The Riemann average of a set of joint data of a redundant robot is calculated to study whether the joint kinetic energy has a dramatic change during the surface modification.When the contemporary valence function converges,the range of change is limited to a certain range through the kinetic energy simulation of the joints of a redundant robot.The correctness of the new algorithm proposed in this paper is correct.