| 冗余度机器人在关节坏死情况下的轨迹规划 |
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| 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 |
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| 作者姓名： | 余满珍 陈启军 |
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| 作者单位： | 同济大学信息与控制工程系,上海,200092;同济大学信息与控制工程系,上海,200092 |
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| 基金项目： | 国家自然科学基金资助项目(60005002). |
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| 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.
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| 关 键 词： | 冗余度机器人 灵活度 关节坏死 轨迹规划 |
| 文章编号： | 1002-0446(2004)02-0150-05 |
Trajectory Planning of Redundant Robot in the Presence of Joint Failure |
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| YU Man-zhen,CHEN Qi-jun. Trajectory Planning of Redundant Robot in the Presence of Joint Failure[J]. Robot, 2004, 26(2): 150-154 |
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| Authors: | YU Man-zhen CHEN Qi-jun |
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| 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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| Keywords: | redundant robot dexterity joint failure trajectory planning |
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