从弹性系数的影响因素出发，完善最小势能指标。基于大量试验，得到影响扭簧系数的因素为主观因素和客观因素。标准化客观因素，用聚类分析方法对主观因素分类，利用多元线性回归方法得到弹性系数与目标点之间的具体数学表达通式。用最小势能指标预测人臂达点臂姿，验证弹性系数，并与其他指标的预测结果对比。结果显示基于提出的弹性系数的最小势能指标能够准确预测更多人的臂姿。对机械臂进行仿人运动规划试验，证明最小势能指标的实用性。
From the aspect of potential energy, human-like motion planning of robotic arm is studied. However, the potential energy is not involved in the potential criterions, because it is difficult to determine the parameters in the spring models. The minimum potential-energy criterion is improved from the angle of the influencing factors of potential coefficient. Based on a large number of experiments, the influencing factors of the spring coefficient are obtained. The factors are divided into the objective factors and the subjective factors. The objective factors are eliminated through standard processing of the experimental data and the subjective factors are classified by the clustering methodology. The exact mathematical expression of the stiffness is determined through multiple regression analysis on the basis of the influencing factors. The arms postures predicted by this new criterion and other criteria are compared with the captured real arm postures. It turns out that the arm postures predicted by the new criterion are more close to the real arm postures. This new criterion is also applied into the human-like motion planning of a 7-DOF Robai robotic arm system. These results all verity the validity of this new criterion.
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