| 冗余度机械臂全局容错运动规划新算法 |
| |
| 引用本文： | 荆红梅,赵京.冗余度机械臂全局容错运动规划新算法[J].机械科学与技术(西安),2004,23(4):389-391. |
| |
| 作者姓名： | 荆红梅 赵京 |
| |
| 作者单位： | 北京工业大学机电学院 北京100022
(荆红梅)，北京工业大学机电学院 北京100022(赵京) |
| |
| 摘 要： | 针对冗余度机械臂发生锁死故障提出一种新的算法 ,在一维寻优结果的基础上 ,快速准确地寻找到二维平面的最优位置 ;同时对三种不同意义的起始位置故障时刻的性能进行了比较。最后用平面 3R冗余度机械臂进行了计算仿真。
|
| 关 键 词： | 冗余度机械臂 全局容错运动规划 |
| 文章编号： | 1003-8728(2004)04-0389-03 |
A New Algorithm for Kinematic Planning with Global Property for Redundant Manipulators |
| |
| JING Hong-mei,ZHAO Jing.A New Algorithm for Kinematic Planning with Global Property for Redundant Manipulators[J].Mechanical Science and Technology,2004,23(4):389-391. |
| |
| Authors: | JING Hong-mei ZHAO Jing |
| |
| Abstract: | A new algorithm of fault tolerance is proposed for locked joint failure of redundant manipulators. The optimal position on the whole plane can be easily and precisely found on the basis of the optimal position along the axis X. Meanwhile, the corresponding reduced manipulability at failure moment of three different initial positions is contrasted and analyzed. Finally, simulation results of a planar 3R redundant manipulator are given. |
| |
| Keywords: | Redundant manipulators Kinematic planning Global property |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
