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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.
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来源 :
Journal of Beijing University of Technology
ISSN: 0254-0037
年份: 2007
期: 12
卷: 33
页码: 1239-1245