两机械臂协调操作的容错运动规划

FAULT TOLERANT MOTION PLANNING FOR TWO COORDINATING MANIPULATORS

针对两机械臂协调操作中发生关节坏死这类故障时的容错运动规划问题进行研究。首先,建立了两机械臂协调操作的运动学方程,给出了容错空间的计算步骤。然后,构造了反映机械臂末端运动与容错空间相对位置关系的中心度指标,并基于这一指标提出了机械臂协调操作的容错运动规划算法。利用该算法可以确定被持物体的最优初始位置,从而同时实现故障时刻和故障后的容错操作。最后,利用两面积3R机械臂的仿真实例证明了其有效性。

Fault tolerant motion planning of two coordinating manipulators for locked joint failures is studied. At first, the kinematic equations of two coordinating manipulators are developed and the calculation procedure of fault tolerant workspace is given. Then, the centrality measure that indicates the relative position relation between the trajectory of end-effector and fault tolerant workspace is formulated. Based on this new measure, a fault tolerant planning algorithm for the coordinating manipulation of two redundant manipulators is proposed. This alp-orithm can determine the optimal initial position of the grasped object and thus realize fault tolerant operation both at failure moment and after the failure. Finally, the simulation researches for two planar 3R manipulators demonstrate the validity of this proposed algorithm.