Influence factors on sudden-change of joint relative velocity in fault-tolerant operation for redundant robot - 文章详情页

作者：

Zhao, Jing (Zhao, Jing.) (学者：赵京) | Yao, Yan-Bin (Yao, Yan-Bin.) | Feng, Deng-Dian (Feng, Deng-Dian.) | Wei, Shan-Shan (Wei, Shan-Shan.)

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摘要：

To　reduce　the　sudden-change　of　joint　relative　velocity　by　using　the　reduced　condition　number　as　the　fault　tolerant　index　when　the　robot＇s　fault　joint　is　locked.　Simulation　of　a　planar　3R　and　a　spatial　4R　robots　are　conducted　to　analyse　and　research　the　main　factors　that　influence　the　Relative　Joint　Sudden-Change.　Research　results　show　that　the　fault　tolerant　indexes,　the　location　of　the　end-effector,　the　velocity　of　the　end-effector,　the　initial　joint　angle　and　the　end-effector　trajectory　influence　the　Relative　Joint　Sudden-Change.　Finally,　methods　that　reduce　the　sudden-change　of　joint　relative　velocity　are　proposed.

关键词：

Robots End effectors Fault tolerance Joints (structural components)

作者机构：

[ 1 ] [Zhao, Jing]College of Mechanical Engineering and Electronics Technology, Beijing University of Technology, Beijing 100022, China
[ 2 ] [Yao, Yan-Bin]College of Mechanical Engineering and Electronics Technology, Beijing University of Technology, Beijing 100022, China
[ 3 ] [Feng, Deng-Dian]College of Mechanical Engineering and Electronics Technology, Beijing University of Technology, Beijing 100022, China
[ 4 ] [Wei, Shan-Shan]College of Mechanical Engineering and Electronics Technology, Beijing University of Technology, Beijing 100022, China

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