Research on FaultTolerant Control of Dynamically Redundant Manipulators
-
摘要: 就提高冗余度机器人动力学容错能力问题进行了研究.通过优化关节力矩分配椭球,使得该椭球主轴长度的乘积尽可能大,从而动力学容错能力得到改善.基于此,研究了故障状态下的关节力矩再分配算法和实时的动力学容错控制方案.为了减小故障造成的跟踪误差,对PID(Proportional Inteqrated Differential)和变结构控制的仿真效果进行了对比,仿真结果证实了所提算法的有效性和实用性.Abstract: This paper is focused on the fault-tolerant control of dynamically redundant manipulators. Through optimizing the ellipsoidal sphere of joint torque, the dynamic fault-tolerant ability will be improved because the product of the principal axis length of the sphere can be increased. Based on this method, a joint torque redistribution algorithm for online fault-tolerant control of dynamically redundant manipulators has been presented. In order to reduce the error of trajectory tracing, the effects of PID and SMC control laws have also been compared. The effectiveness of the proposed algorithms has been demonstrated by simulation.
-
Key words:
- redundancy /
- robots /
- dynamics /
- fault-tolerant /
- control
-
[1] Maciejewski A A. Fault-tolerant properties of kinematically redundant manipulators . Proceedings of IEEE International Conference on Robotics and Automation . 1990. 638~642. [2]Wu E C, Huang J C, Chladek J T. Fault-tolerant joint development for the space shuttle remote manipulator system:analysis & experiment[J]. IEEE Transactions on Robotics & Automation,1995,9(5):675~684. [3]Paredis C J J, Khosla P K. Agent-based design of fault tolerant manipulators for satellite docking . Proceedings of IEEE International Conference on Robotics and Automation . 1997. 3473~3480. [4]Lewis C L, Maciejewski A A. An example of failure tolerant operation of a kinematically redundant manipulator . Proceedings of IEEE International Conference on Robotics and Automation . 1994. 1380~1387. [5]Ting Y, Tosunoglu S, Fernandez B. Control algorithms for fault-tolerantrobots . Proceedings of IEEE International Conference on Robotics and Automation . 1994. 910~915. [6]Paredis C J J, Khosla P K. Mapping tasks into fault tolerant manipulators . Proceedings of IEEE International Conference on Robotics and Automation . 1994. 696~703. [7]Groom K N, Maciejewski A A, Balakrishnan V. Real-time failure-tolerant control of kinematically redundant manipulators . Proceedings of IEEE International Conference on Robotics and Automation . 1997. 2595~2600. [8]李鲁亚. 容错冗余度机器人控制研究 . 北京:北京航空航天大学机电系,1996. [9]Ting Y, Tosunoglu S, Freeman R. Torque redistribution method for fault recovery in redundant serial manipulators . Proceedings of IEEE International Conference on Robotics and Automation . 1994. 1396~1401. [10]陈伟海. 冗余自由度机器人优化控制研究 . 北京:北京航空航天大学机电系,1996. [11]高为炳. 变结构控制理论基础[M]. 北京:中国科学技术出版社,1990. -
点击查看大图
计量
- 文章访问数: 3212
- HTML全文浏览量: 41
- PDF下载量: 210
- 被引次数: 0
下载:
