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基于可操作度的单冗余度机器人容错性指标

李健 李剑锋 武桢 张启先

李健, 李剑锋, 武桢, 等 . 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.
引用本文: 李健, 李剑锋, 武桢, 等 . 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.
LI Jian, LI Jian-feng, WU Zhen, et al. On Manipulability Based Fault Tolerant Measure of Redundant Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2002, 28(1): 54-57. (in Chinese)
Citation: LI Jian, LI Jian-feng, WU Zhen, et al. On Manipulability Based Fault Tolerant Measure of Redundant Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2002, 28(1): 54-57. (in Chinese)

基于可操作度的单冗余度机器人容错性指标

基金项目: 国家自然科学基金资助项目(59505012)
详细信息
  • 中图分类号: TP 242

On Manipulability Based Fault Tolerant Measure of Redundant Robot

  • 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.

     

  • [1]Maciejewski A A. Fault tolerant properties of kinematically redun-dant manipulators . In:Richard A Volz, ed. Proc of IEEE Inter Conf on Robotics and Automation . Los Alamitos:IEEE Computer Society Press,1990.638~642. [2]Lewis C L, Maciejewski A A. Dexterity optimization of kinematically redundant manipulators in the presence of joint failures[J]. Computers Elect Engineering,1994,20(3):273~288. [3]Visinsky M L, Walker I D, Cavallaro J R. Layered dynamic fault detection and tolerance for robots . In:Robert Werner, Lisa O'Conner,eds. Proc of IEEE Inter Conf on Robotics and Automation . Los Alamitos:IEEE Computer Society Press, 1993.180~187. [4]Ting Y,Tosunoglu S, Fernandez B. Control algorithms for fault-tolerant robots . In:Edua Straub, Regina Spencer Sipple,eds. Proc of IEEE Inter Conf on Robotics and Automation . Washington DC:IEEE Computer Society Press, 1994.910~915. [5]Groom K N, Maciejewski A A, Balakrishnan V. Real-time failure-tolerant control of kinematically redundant manipulators . In:Ray Harrigan, ed. Proc of IEEE Inter Conf on Robotics and Automation .New Mexico:Albuquerque, 1997.2595~2600. [6]Yoshikawa T. Analysis and control of robot manipulators with redundancy . In:Michael Brady, Richard Paul,eds. Proc 1st Inter Symp of Robotics Research . Cambridge Mass:MIT Press,1984.735~748. [7]周东辉.冗余度机器人机构学研究 .北京:北京航空航天大学机械工程及自动化学院,1994. [8]Klein C A, Blaho B E. Dexterity measures for the design and control of kinematically redundant manipulators[J]. Inter J of Robotics Research,1987, 6(2):72~83.
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出版历程
  • 收稿日期:  2000-05-16
  • 网络出版日期:  2002-01-31

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