冗余度机械臂协调容错操作中的关节速度突变  

SUDDEN CHANGE OF JOINT VELOCITY DURING FAULT TOLERANT OPERATIONS FOR COORDINATING REDUNDANT MANIPULATORS

作　　者：赵京[1] 么学宾[1] 张凯亮[1] 张雷[1] 

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100022

出　　处：《机械工程学报》2006年第1期69-74,共6页Journal of Mechanical Engineering

基　　金：国家863计划(2003AA404140)北京市自然科学基金(3042005)资助项目。

摘　　要：针对两协调机械臂在发生锁定关节故障的容错操作中关节速度突变问题进行了研究。首先将原机械臂关节速度与退化机械臂关节速度之差定义为容错操作中的关节速度突变;然后基于这一指标提出了相应的容错运动规划算法;最后给出了两个平面3R机械臂进行容错操作的仿真实例。研究结果表明,该算法可以有效地避免在容错协调操作中两机械臂出现的关节速度突变,提高容错操作的运动平稳性,从而改善机械臂容错操作的运动学和动力学性能。The sudden change of joint velocity in fault tolerant operation of two coordinating manipulators for locked failures is studied. First, the difference between the joint velocity of original manipulator and that of reduced manipulator is defined as the sudden change in joint velocity. Then, a corresponding fault tolerant planning algorithm based on this measure is proposed. At last, a simulation example of fault tolerant operations is implemented with two planar 3R manipulators. Simulation results show that this algorithm can effectively avoid the sudden change of joint velocity occurring in fault tolerant operation of two coordinating manipulators, enhance their motion stability and so improve their kinematical and dynamic properties in fault tolerant operations.

关 键 词：冗余度机械臂 协调操作 关节速度突变 容错运动规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]