冗余度机器人容错操作运动误差的研究  

On Path Errors of Redundant Robots during Fault Tolerant Operations

作　　者：李玉龙[1] 赵京[1] 金怡[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,北京100124

出　　处：《机械科学与技术》2010年第1期90-93,99,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50775022)资助

摘　　要：建立了一个冗余度机器人的实验平台,利用该平台对冗余度机器人的末端误差进行了系统深入研究。通过对实验数据分析得出:机器人的末端误差在锁定时刻,主要取决于关节速度突变;在锁定后,主要取决于退化机器人的关节速度。为了降低冗余度机器人的关节速度突变,从而控制锁定时刻的末端误差,笔者提出了一种最小关节速度突变优化算法。最后,分别用最小关节速度突变优化算法和最小范数法来规划平面3R机器人的末端轨迹,通过对比两种算法的仿真数据和实验数据证明了结论的正确性。An experiment platform for redundant robots is designed, and systematic experiments on end-effector er- rors of redundant robots are performed on this platform. Study results indicate that the increase of the path error at the instant of locking joint mainly depends on the joint velocity jump; the increase of the path error in post-failure operations mainly depends on the joint velocity of the reduced robot. Then, the analytical formula of the optimal joint velocity with minimum sudden change is derived. Finally, the jump difference between the minimum jump so- lution and the least-norm velocity solution is mathematically analyzed. Numerical simulations and experimental studies are implemented with a planar 3R robot for the two algorithms.

关 键 词：冗余度机器人 容错性能 末端误差 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]