On Manipulability Based Fault Tolerant Measure of Redundant Robot
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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.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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Key words:
- redundancy /
- robots /
- fault-tolerant technique /
- joint failure /
- fault tolerant measure
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