| 加权最小范数法在单冗余度机器人容错算法中的应用 |
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| 引用本文： | 黄玉芳,赵京,缪萍.加权最小范数法在单冗余度机器人容错算法中的应用[J].北京工业大学学报,2001,27(4):426-429. |
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| 作者姓名： | 黄玉芳 赵京 缪萍 |
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| 作者单位： | 北京工业大学机械工程与应用电子技术学院,北京,100022 |
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| 基金项目： | 北京市教委科研项目;OOKJ-023; |
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| 摘 要： | 利用梯度投影法对冗余度机器人进行容错轨迹规划时，常常导致关节速度变化较大，为解决这一问题，将加权最小范数法引入到容错轨迹规划中．理论分析及ＢＵＡＡ－ＲＲ七自由度机器人的仿真研究结果表明，利用加权最小范数法可以获得更平滑的关节速度，这说明它是一种有效的容错轨迹规划算法．
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| 关 键 词： | 容错算法 梯度投影法 加权最小范数法 |
| 文章编号： | 0254-0037(2001)04-0426-04 |
| 修稿时间： | 2000年12月27日 |
Application of Weighted Least-Norm Solution to Fault-Tolerance Algorithm of Single Redundant Manipulators |
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| HUANG Yu-fang,ZHAO Jing,MIAO Ping.Application of Weighted Least-Norm Solution to Fault-Tolerance Algorithm of Single Redundant Manipulators[J].Journal of Beijing Polytechnic University,2001,27(4):426-429. |
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| Authors: | HUANG Yu-fang ZHAO Jing MIAO Ping |
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| Abstract: | Gradient Projection Method always results in great variations in joint velocity when it is used for fault tolerant trajectory planning of redundant robots. To solve the problem, this paper introduces Weighted Least Norm Method into fault tolerant trajectory planning. Theoretical analysis and simulation research on BUAA-RR redundant robot show that using Weighted Least Norm Method can obtain more smooth joint velocity, which concludes that it is a effective fault tolerant trajectory planning algorithm. |
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| Keywords: | fault-tolerant algorithm gradient projection method weighted least-norm solution |
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