多冗余度的机械臂容错操作中关节速度突变的研究  

On The Sudden Change of Joint Velocity During Fault Tolerant Operations for Manipulators with Mul Tiple Degrees of Redundancy

作　　者：张洪斌[1] 

机构地区：[1]华北科技学院机电工程系,北京东燕郊101601

出　　处：《华北科技学院学报》2009年第1期37-40,共4页Journal of North China Institute of Science and Technology

摘　　要：推导出了使速度突变极小化的退化机械臂关节速度的解析表达式,并从理论上证明了原机械臂关节速度最小范数解中的剩余关节速度矢量在退化机械臂零空间中的投影为零矢量,该结论适用于任意冗余度的平面和空间机械臂。研究结果表明,利用多冗余度机器人机械臂容错操作可以明显减小关节速度突变,提高容错操作的运动平稳性。The sudden change of joint velocity during fauh tolerant operations for redundant manipulators is defined, and the ana- lytical formulation of joint velocity of the reduced manipulator with minimum sudden change of joint velocity is derived. Based on this, the projection of the least-norm velocity vector for the remaining joints of a manipulator onto the null space of the reduced manipulator is mathematically proved to be a zero vector. This implies that when a manipulator follows the motion law determined by the least-norm joint velocity solution, in order to minimize the sudden change of joint velocity at the moment of locking joint, the optimal joint velocity of the reduced manipulator is its least-norm solution. This conclusion is suitable for any planar and spa- tial manipulators with multiple degrees of redundancy. Final results indicate that utilizing the manipulators with multiple degrees of redundancy can obviously reduce sudden change of joint velocity thereby improving their motion stability in fault tolerant operations.

关 键 词：机械臂 多冗余度 关节速度突变 容错操作 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]