【摘要】 对冗余度机械臂的容错问题进行了研究 ,提出一种位移级上的容错轨迹规划算法 ,并将其与梯度投影法进行了仿真分析与比较。研究结果表明 ,新方法可以使机械臂更为有效地实现容错操作更多还原

【Abstract】 Fault tolerant operations for redundant manipulators are discussed. A new trajectory planning algorithm with fault tolerance is proposed. Then, comparisons between the new algorithm and gradient projection algorithm are made through simulation example. Results show that the new algorithm can perform fault tolerant operation more efficiently than the gradient projection algorithm.更多还原