| 多冗余度的机械臂容错操作中关节速度突变的研究 |
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| 引用本文： | 张洪斌.多冗余度的机械臂容错操作中关节速度突变的研究[J].华北科技学院学报,2009,6(1):37-40. |
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| 作者姓名： | 张洪斌 |
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| 作者单位： | 华北科技学院,机电工程系,北京,东燕郊,101601 |
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| 摘 要： | 推导出了使速度突变极小化的退化机械臂关节速度的解析表达式，并从理论上证明了原机械臂关节速度最小范数解中的剩余关节速度矢量在退化机械臂零空间中的投影为零矢量，该结论适用于任意冗余度的平面和空间机械臂。研究结果表明，利用多冗余度机器人机械臂容错操作可以明显减小关节速度突变，提高容错操作的运动平稳性。
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| 关 键 词： | 机械臂 多冗余度 关节速度突变 容错操作 |
On The Sudden Change of Joint Velocity During Fault Tolerant Operations for Manipulators with Mul Tiple Degrees of Redundancy |
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| ZHANG Hongbin.On The Sudden Change of Joint Velocity During Fault Tolerant Operations for Manipulators with Mul Tiple Degrees of Redundancy[J].Journal of North China Institute of Science and Technology,2009,6(1):37-40. |
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| Authors: | ZHANG Hongbin |
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| Institution: | North China institute of science and technology;Yanjiao Beijing-East 101601 |
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| Abstract: | The sudden change of joint velocity during fault tolerant operations for redundant manipulators is defined,and the analytical formulation of joint velocity of the reduced manipulator with minimum sudden change of joint velocity is derived.Based on this,the projection of the least-norm velocity vector for the remaining joints of a manipulator onto the null space of the reduced manipulator is mathematically proved to be a zero vector.This implies that when a manipulator follows the motion law determined by th... |
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| Keywords: | Manipulator Multiple degrees of redundancy Sudden change in joint velocity Fault tolerant operation |
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