驱动器故障影响下柔性机械臂运动控制的进展与展望

随着机械臂技术的不断发展，传统刚性机械臂逐渐难以满足一些新式机械臂系统在轻质化、运动灵活性、大空间范围等方面的需求，如空间机械臂、手术机械臂、人机交互式机械臂等。越来越多的研究人员将目光投向柔性机械臂及其高精度运动控制方法的研究中。针对此类系统，目前已经有一些有效的运动控制方法被提出。然而，当机械臂的某一驱动器发生故障后，常规的控制方法难以保证原有的控制性能，甚至可能导致系统不稳定。研究驱动器故障影响下的柔性机械臂运动控制方法具有重要的理论意义和应用前景。本文首先概述柔性机械臂已有的运动控制方法。然后，从驱动器故障的类型出发，分析并综述驱动器性能故障、驱动器完全损坏故障以及驱动器突发故障对系统的影响及其克服方法的研究现状。最后，本文讨论了当前驱动器故障影响下柔性机械臂运动控制还需进一步解决的关键问题，总结了三点前景方向，对柔性机械臂运动控制的进一步研究具有一定的参考价值。

Progress and Prospect of Motion Control for the Flexible Manipulator Under the Influence of Actuator Faults

With the continuous development of manipulator technology, the traditional rigid manipulator, such as space manipulator, surgical manipulator and man-machine interactive manipulator, etc. gradually has difficulties in meeting the needs of some new manipulator systems in terms of lightweight, motion flexibility, large space range, etc. More and more researchers pay attention to the research of flexible manipulator and its high-precision motion control. At present, some effective motion control methods have been proposed for flexible manipulator. However, when an actuator of the manipulator fails, it is difficult for conventional control methods to ensure the original control performances and may even lead to system instability. The research on the flexible manipulator motion control under the effect of actuator faults has important theoretical significance and application prospect. Firstly, the existing motion control methods of flexible manipulator are summarized. Then, according to the types of actuator faults, the effect of actuator performance fault, actuator completely damaged fault and sudden actuator fault on the system are analyzed, and the state of art methods that are used to overcome these actuator faults are summarized. Finally, the key problems to be further solved in the motion control of flexible manipulator under the effect of actuator faults are discussed, and three prospect directions summarized, which has reference value for the further research of flexible manipulator motion control.