• CN:11-2187/TH
  • ISSN:0577-6686

›› 2000, Vol. 36 ›› Issue (7): 34-38.

• 论文 • 上一篇    下一篇

冗余度机器人容错控制研究

唐世明;张启先   

  1. 北京航空航天大学机器人研究所
  • 发布日期:2000-07-15

RESEARCH ON THE FAULT-TOLERANT CONTROL OF REDUNDANT ROBOTS

Tan Shiming;Zhang Qixian   

  1. Beijing University of Aeronautics and Astronautics
  • Published:2000-07-15

摘要: 对冗余度机器人运动学动力学容错控制进行了较深入的研究,以冗余度机器人容错控制是冗余特性的具体应用这一思想为出发点,利用自运动变量这种冗余参数作为容错控制系统的状态变量,对容错控制系统进行简化,并提出了利用自运动控制冗余度机器人实现各种容错的新方法。仿真结果表明这些方法具有运算简单、容错效果好的优点。

关键词: 容错控制, 冗余度机器人

Abstract: A rather deep investigation into the kinematic and dynamic fault-tolerant control of redundant robots is presented. Starting from the thought of fault-tolerant control of redundant robots being one of the concrete application of their redundant properties, we take the self-motion parameters for state variables to simplify the fault-tolerant control system. Based on self-motion controlling, several new schemes are proposed to realize the fault-tolerant control of redundant robots. The simulation results illustrate the simplicity and effectiveness of the above fault-tolerant control methods.

Key words: Fault-tolerant control, Redundant robots

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