冗余度机器人在关节坏死情况下的轨迹规划  

Trajectory Planning of Redundant Robot in the Presence of Joint Failure

作　　者：余满珍[1] 陈启军[1] 

机构地区：[1]同济大学信息与控制工程系,上海200092

出　　处：《机器人》2004年第2期150-154,共5页Robot

基　　金：国家自然科学基金资助项目 (60 0 0 50 0 2 )

摘　　要：本文在分析比较一些常见的机器人灵活度标准的基础上 ,提出一种轨迹规划算法 ,通过提高机器人关节坏死后的灵活度 ,解决了机器人在关节坏死后由于灵活度过低造成不可控的问题 .分别对 4自由度连杆机器人和平面 4自由度宏—微机器人进行了仿真和实验研究 ,仿真和实验结果证明了算法的有效性 .On the basis of the analysis and comparison of several familiar dexterity criteria,this paper presents a trajectory-planning algorithm,which improves the dexterity of the post-failure robot and resolves the incontrollable problem of post-failure robot due to too low dexterity that is brought about by the failure joint. Simulation is made on a planar robot with four degrees of freedom and experiment is done on a planar macro-micro robot with four degrees of freedom. The results show the effectiveness of the algorithm.

关 键 词：冗余度机器人 灵活度 关节坏死 轨迹规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]