空间机械臂协调操作的容错空间与容错规划算法研究  

Study on Fault Tolerant Workspace and Fault Tolerant Planning Algorithm For Spatial Manipulators′ Coordination

作　　者：赵京[1] 张凯亮[1] 姚艳彬[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：《机械科学与技术》2006年第3期261-264,共4页Mechanical Science and Technology for Aerospace Engineering

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

摘　　要：针对两空间机械臂协调操作中发生关节坏死这类故障时的容错运动规划问题进行研究。首先给出了空间机械臂容错空间的计算方法,并构造了反映机械臂末端运动与容错空间相对位置关系的中心度指标。然后基于这一指标提出了机械臂协调操作的容错运动规划算法。该算法可以同时实现故障时刻和故障后的容错操作;最后。Fault tolerant motion planning of two spatial manipulators for locked joint failures is studied. First, the calculation method of fault tolerant workspace is ,given, and the centrality index which indicates the relative positional relationship between the end motion of manipulators and fault tolerant workspace is formulated. Then on the basis of this new index, a fauh tolerant planning algorithm for the coordinated manipulation of two redundant manipulators is proposed. This algorithm can be used to perform a fauh tolerant operation for two coordinated manipulators both at a failure moment and after a failure. Finally, simulation instances of two spatial 4R manipulators demonstrate the validity of this proposed algorithm.

关 键 词：空间机械臂 协调操作 容错空间 容错算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]