关键词: 关节参数突变抑制, 关节失效, 容错运动, 空间机械臂

Abstract:

In order to achieve fault-tolerant operation of space manipulator after joint failure, a method to reduce the joint parameters jump during the operation of the force/position fault-tolerant at the end-effector is proposed. Based on the relationship of velocity/force between joint space and the Cartesian space, the conditions of force/position fault-tolerant at the end-effector are analysed, and the kinematics and dynamics equations of fault-tolerant in Cartesian space are established. Then the kinematics manipulability and dynamics manipulability are introduced into the equations respectively, on the base of which the optimization functions of joint parameters jump reduction are constructed, and the algorithm particle swarm optimization (PSO) is applied to solve the optimization function. As the simulations expected, the method can achieve force and velocity jumps reduction efficiently in joint space during the operation of the force/position fault-tolerant in the Cartesian space.

Key words: fault tolerant operation, joint failure, joint parameter jump suppression, space manipulator