摘要
运用综合可操作度作为容错性能指标,在任务空间分别处于容错空间之内和超出容错空间两种情况下,分析计算了冗余度机器人在末端执行任务过程中,关节发生故障并被锁定前后,其它关节速度的突变情况;并对平面3R机械臂进行了仿真研究。结果表明,性能指标、末端起始点位置、关节起始位形角,末端速度以及步长等都会影响到关节速度突变。
Using the integrated manipulability as the fault tolerant index, when one joint of a redundant manipulator fails and is locked, the sudden change of the joint velocity is analyzed under the condition that an operation task is within and beyond the fault tolerant space. Simulation examples for a planar 3R manipulator are given. Research results show that fault tolerant indexes, the location of the end-effector, the initial joint angle, end-effector velocity and integration step have influence on the change of the joint velocity.
出处
《机械科学与技术》
CSCD
北大核心
2005年第3期371-374,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
北京市自然科学基金项目(3042005)资助
关键词
冗余度
容错
速度突变
Redundant manipulator
Fault tolerance
Velocity sudden change
