余满珍, 陈启军. 冗余度机器人在关节坏死情况下的轨迹规划[J]. 机器人, 2004, 26(2): 150-154.
引用本文: 余满珍, 陈启军. 冗余度机器人在关节坏死情况下的轨迹规划[J]. 机器人, 2004, 26(2): 150-154.
YU Manzhen, CHEN Qijun. Trajectory Planning of Redundant Robot in the Presence of Joint Failure[J]. ROBOT, 2004, 26(2): 150-154.
Citation: YU Manzhen, CHEN Qijun. Trajectory Planning of Redundant Robot in the Presence of Joint Failure[J]. ROBOT, 2004, 26(2): 150-154.

冗余度机器人在关节坏死情况下的轨迹规划

Trajectory Planning of Redundant Robot in the Presence of Joint Failure

  • 摘要: 本文在分析比较一些常见的机器人灵活度标准的基础上,提出一种轨迹规划算法,通过提高机器人关节坏死后的灵活度,解决了机器人在关节坏死后由于灵活度过低造成不可控的问题.分别对4自由度连杆机器人和平面4自由度宏—微机器人进行了仿真和实验研究,仿真和实验结果证明了算法的有效性.

     

    Abstract: On the basis of the analysis and comparison of several familiar dexterity criteria,this paper presents a trajectory-planning algorithm,which improves the dexterity of the post-failure robot and resolves the incontrollable problem of post-failure robot due to too low dexterity that is brought about by the failure joint. Simulation is made on a planar robot with four degrees of freedom and experiment is done on a planar macro-micro robot with four degrees of freedom. The results show the effectiveness of the algorithm.

     

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