利用加权广义逆矩阵减小协调机械臂容错操作时的关节速度突变

Reducing the Sudden Change of Joint Velocity During the Fault Tolerant Operations of Coordinating Manipulators Through Weighted Generalized Inverse Matrix

针对两机械臂容错协调操作中关节速度突变问题进行了研究。首先,给出了关节速度突变的定义;然后,提出了基于加权广义逆矩阵的容错运动规划算法;最后,利用两个3R机械臂将新算法与常规算法进行了对比仿真分析。研究结果表明,新算法可以比常规算法更加有效地减小两机械臂容错操作中的关节速度突变,进一步提高容错操作的运动平稳性。

The sudden change of joint velocity in fault tolerant operation of two coordinating manipulators is studied. First, the definition of the sudden change of joint velocity is given; then a new fault tolerant planning algorithm based on weighted generalized inverse matrix is proposed; finally comparison analyses between the new algorithm and the conventional algorithm are made through a simulation example of two planar 3R manipulators. Research results show that the new algorithm can reduce the sudden change of joint velocity more effectively than the conventional one, and further increase the manipulators′ motion stability during fault tolerant operations.