Research on parallel optimization scheme between singularity avoidance and minimum torque for a redundant manipulator 冗余度机器人最小力矩与回避奇异并行优化
Firstly , the motion programming of robot is presented to reduce the motion error of endpoint 首先，研究以减小末端误差为目标的冗余度柔性机器人运动规划问题。
The result demonstrates the advantage of multi - degree of redundancy in improving motion precision 然后，研究在最小变形能意义下的冗余度柔性机器人运动规划问题。
The efficiency of the approach is demonstrated with an example of a planar 10 - bar hyper - redundant robotic mechanism 给出的一个平面十杆超冗余度机器人机构的算例证明了所提方法的有效性。
In the past few years , only the robot manipulators with single - degree of redundancy has been considered 以往的研究大都是针对单冗余度柔性机器人进行的，而涉及到多冗余度的研究还是非常少的。
Taking advantage of the multi - degree of redundancy , the performance of flexible robot can be improved by programming the self - motion of robot 利用冗余度机器人的冗余特性，可以使柔性机器人的运动精度提高。
However , the robot manipulators with multi - degree of redundancy have larger redundant space and the optimal solution can be obtained more efficiently 由于多冗余度机器人存在较大的冗余空间，因此更有利于获得最优解。
The simulation results demonstrate the effectiveness of the proposed method in resolving the kinematic redundancy and reducing the energy consumption 仿真表明，该算法在解决系统冗余度的同时，有效地减小了系统能源消耗。
How to solves the problems such as data exchange 、 communion difficulty and data redunance , which due to the heterogeneous system in a enterprise 如何解决企业内部系统异构性所带来的数据交换、共享困难,数据冗余度大等问题
Also , a detailed design on choosing the initial work node , network redundancy degree , sleeping node ’ s wake up rate was given 文中对算法在初始工作节点的选择、网络的冗余度、睡眠节点的醒来率等性能方面给出了详细的设计。
