冗余度机械臂容错操作中关节速度突变  

Sudden Change of Joint Velocity During Fault Tolerant Operations for Redundant Manipulators

作　　者：赵京[1] 张凯亮[1] 冯登殿[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：《北京工业大学学报》2007年第11期1121-1125,共5页Journal of Beijing University of Technology

基　　金：北京市自然科学基金(3042005);北京市高等学校人才强教计划资助项目

摘　　要：为了减小关节速度突变,改善机械臂容错操作的运动平稳性并提高其操作精度,根据关节速度突变这一指标,提出了使速度突变极小化的容错运动规划算法,并利用PowerCube 4R空间机械臂和Optotrak三维动态测量系统建立了一个实验平台,实测出了容错操作中由关节速度突变引起的机械臂末端的运动误差。研究结果表明,在对机械臂进行锁定关节的容错操作时存在关节速度突变,这种突变严重影响了机械臂末端的运动精度,利用该算法可以有效地减小关节速度突变。In order to reduce the sudden change, improve the motion stability of the manipulator and increase its operational accuracy in fault tolerance, this paper defines the sudden change in joint velocity as an index and a corresponding fault tolerant planning algorithm based on this index is proposed. Then an experiment platform is built up with a PowerCube manipulator and an Optotrak motion measurement system. And the trajectory error of the manipulator＇s end-effector caused by the sudden change is detected with this platform. Simulation results show that the sudden change in joint velocity does occur when a redundant manipulator perform a fault olerant operation for locked joint failures. The algorithm proposed here can effectively minimize the sudden change.

关 键 词：冗余度机械臂 容错 关节速度突变 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]