| 基于可操作度的单冗余度机器人容错性指标 |
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| 引用本文： | 李健,李剑锋,武桢,张启先.基于可操作度的单冗余度机器人容错性指标[J].北京航空航天大学学报,2002,28(1):54-57. |
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| 作者姓名： | 李健 李剑锋 武桢 张启先 |
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| 作者单位： | 北京航空航天大学 机械工程及自动化学院 |
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| 基金项目： | 国家自然科学基金;59505012; |
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| 摘 要： | 当冗余度机器人关节出现故障时,必将影响其灵活性.即使正常操作时具有较高的灵活性,如果关节出现故障也可能导致雅可比矩阵奇异,致使机器人不能沿任意方向运动.针对单冗余度机器人出现一个关节故障的情形,用可操作度分析此类机器人的容错性,并提出新的运动学和动力学容错性评价指标,所给指标计算量小、易于在线实时运算,最后给出优化算例,证实了所给评价指标的有效性.
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| 关 键 词： | 冗余 机器人 容错技术 关节故障 容错性指标 |
| 文章编号： | 1001-5965(2002)01-0054-04 |
| 收稿时间： | 2000-05-16 |
| 修稿时间： | 2000年5月16日 |
On Manipulability Based Fault Tolerant Measure of Redundant Robot |
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| LI Jian,LI Jian-feng,WU Zhen,ZHANG Qi-xian.On Manipulability Based Fault Tolerant Measure of Redundant Robot[J].Journal of Beijing University of Aeronautics and Astronautics,2002,28(1):54-57. |
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| Authors: | LI Jian LI Jian-feng WU Zhen ZHANG Qi-xian |
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| Institution: | Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation |
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| Abstract: | When a redundant manipulator suffers a joint failure, its dexterity will be significantly affected. A joint failure may result in a singular configuration even if the manipulator operates in a relatively dexterous configuration, as a result, the manipulator can't perform arbitrary end effector motions. Fault tolerance of redundant manipulator is examined in this work. Considering the condition that one joint is failed, manipulability is explored to evaluate the fault tolerant property and new measure is proposed. This measure is characterized by little computation and can be implemented online. Finally, simulation result illustrates the validity of the proposed measure. |
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| Keywords: | redundancy robots fault tolerant technique joint failure fault tolerant measure |
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