冗余度机器人故障后的运动规划  

Post failure motion planning for redundancy robots

作　　者：缪萍[1] 赵京[1] 

机构地区：[1]北京工业大学机电学院,北京100022

出　　处：《机械设计》2003年第3期17-20,共4页Journal of Machine Design

基　　金：教育部资助项目 (M0 1 0 2 0 0 0 1 ) ;北京市教育委员会资助项目 (0 0KJ - 0 2 3)

摘　　要：在一些应用环境中 ,不仅要求机器人具有容错性能 ,而且希望在某个 (些 )关节出现故障后机器人仍能继续完成预定的工作任务。针对冗余度机器人发生自由摆动故障 ,分析了故障后机器人运动的特性 ,指出其运动的实质 ,构造了机器人发生自由摆动故障后的运动学规划模型。仿真结果表明 ,采用该方法进行机器人故障后运动规划 ,能完成后续的工作任务 。In some applicational environments, the robots is not only asked to be provided with function of mistake tolerance but also to be hoped that the robots could still accomplish predeterimed working assignment after failure arised in certain (some) joints. Aiming at the free-swinging failure occurred in redundancy robots, the motion characteristics of robot after stoppage is analyzed, its essence of motion is being pointed out and the model of kinematic planning is constructed for robots after free-swinging failure has happened. The result of simulation shows that it is an effective way by adopting this method to carry out post failure motion planning of robot which could accomplish the follow-up working assignments.

关 键 词：自由摆动故障 冗余度机器人 故障后运动学规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]