冗余度机器人容错操作中关节相对速度突变影响因素  

Influence Factors on Sudden-change of Joint Relative Velocity in Fault-tolerant Operation for Redundant Robot

作　　者：赵京[1] 姚艳彬[1] 冯登殿[1] 魏姗姗[1] 

机构地区：[1]北京工业大学 机械工程及应用电子学院,北京100022

出　　处：《北京工业大学学报》2007年第12期1239-1245,共7页Journal of Beijing University of Technology

基　　金：北京市自然科学基金(3042005).

摘　　要：为了减小机器人锁定故障关节时刻的关节相对速度突变,运用退化条件数作为容错性能指标,分别以平面3R和空间4R机器人为仿真对象,分析研究了影响关节相对速度突变的主要因素.仿真结果表明,性能指标、末端初始点、末端速度、关节初始角度和末端轨迹均影响机器人的关节相对速度突变,并提出了减小机器人关节相对速度突变的具体方法.To reduce the sudden-change of joint relative velocity by using the reduced condition number as the fault tolerant index when the robot＇s fault joint is locked. Simulation of a planar 3R and a spatial 4R robots are conducted to analyse and research the main factors that influence the Relative Joint Sudden-Change. Research results show that the fault tolerant indexes, the location of the end-effector, the velocity of the endeffector, the initial joint angle and the end-effector trajectory influence the Relative Joint Sudden-Change. Finally, methods that reduce the sudden-change of joint relative velocity are proposed.

关 键 词：冗余度机器人 退化条件数 关节相对速度突变 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]