冗余机器人锁定故障关节的运动及力矩分配  

Kinematic and Torque Distribution of Redundant Robot With Locked Joint Failures

作　　者：杜滨[1] 赵京[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：《机械设计与研究》2010年第4期45-48,共4页Machine Design And Research

基　　金：国家自然科学基金资助项目(50775002)

摘　　要：冗余度机器人关节发生故障后,启动关节制动装置将故障关节锁定。为保持机器人末端路径不变,机器人关节位形发生重构,这一重构将引起剩余关节速度、加速度及力矩突变。对机器人故障关节发生故障前后的速度、加速度及力矩进行研究,结果表明冗余度机器人容错是通过对故障关节的速度、加速度及力矩再分配来实现的。采用最小范数控制算法使关节速度、力矩突变极小化,从而提高机器人关节运动的稳定性。When the redundant robot joint fails, the fault tolerant controllers isolate the fault joint. In order to maintain the path of end - effector, the robot joint configuration must be reconstructed, which will lead to jumps among the velocity, acceleration and torque of the remaining joints. These changes before and after the robot joint failure will be discussed. The results show that fault tolerance of the redundant robot is achieved by redistributing the velocity, ac- celeration and torque of the fault joint. The least - norm solution is employed to minimize the velocity, acceleration and torque jumps of the remaining joints. Thereby, the stability of the robot joints movement can be improved.

关 键 词：冗余度机器人 锁定故障关节 力矩分配 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]