| 基于运动学模型重构的单关节故障机械臂容错路径规划 |
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| 引用本文： | 陈钢,郭雯,贾庆轩,王宣. 基于运动学模型重构的单关节故障机械臂容错路径规划[J]. 控制与决策, 2018, 33(8): 1436-1442 |
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| 作者姓名： | 陈钢 郭雯 贾庆轩 王宣 |
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| 作者单位： | 北京邮电大学自动化学院，北京100876,北京邮电大学自动化学院，北京100876,北京邮电大学自动化学院，北京100876,北京邮电大学自动化学院，北京100876 |
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| 基金项目： | 国家自然科学基金项目(61403038)；国家重点基础研究发展计划项目(2013CB733000). |
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| 摘 要： | 针对单关节故障机械臂的路径规划问题,提出一种基于运动学模型重构的容错路径规划方法.首先基于旋量理论进行单关节故障机械臂的通用运动学模型重构;然后分析机械臂的退化工作空间,并以运动性能平稳为约束对其进行栅格化处理;最后通过改进传统的A$^ast$算法,在退化工作空间中搜索出能够满足任务要求的轨迹.以七自由度机械臂为对象进行仿真实验,验证了所提出方法的正确性和有效性.
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| 关 键 词： | 机械臂 容错 模型重构 路径规划 |
Fault tolerant path planning method for manipulator with single joint failure based on kinematics model reconstruction |
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| CHEN Gang,GUO Wenmakebox,JIA Qing-xuan and WANG Xuan. Fault tolerant path planning method for manipulator with single joint failure based on kinematics model reconstruction[J]. Control and Decision, 2018, 33(8): 1436-1442 |
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| Authors: | CHEN Gang GUO Wenmakebox JIA Qing-xuan WANG Xuan |
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| Affiliation: | College of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China,College of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China,College of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China and College of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China |
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| Abstract: | In order to solve the problem of path planning for the single joint failure manipulator, a fault tolerant path planning method based on kinematics model reconstruction is proposed. Firstly, based on the screw theory, the general kinematics model for the single joint failure manipulator is reconstructed. Then, followed by analysis of the manipulator workspace, the grid processing is carried out with the constraint of stable motion performance. Finally, the trajectory in the degraded workspace which meets the requirements of task is searched by improving the traditional A$^ast$ algorithm. The correctness and effectiveness of the proposed method are verified by simulation experiments with the 7-DOF manipulator. |
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