【摘要】 提出了一种多关节机械臂的故障诊断方法 .基于机械臂各个关节间的转动传递关系 ,对多个关节构造虚拟连杆的残差 ,利用虚拟连杆与机械臂工作空间残差间构成的冗余关系进行故障诊断 .将残差阈值的设计与机械臂末端位置的渐变相联系 ,改进了现有方法中判别关节故障没有利用关节间位置关系的不足 .更多还原

【Abstract】 A novel fault diagnosis approach for robot manipulator is proposed,which constructs residuals of multi-joint virtual links through rotational transferring relation between joints. So the redundancy relation between manipulator workspace residual and visual link residuals can be used as the criterion of fault diagnosis. This approach overcomes the shortage of the existing method which does not utilize the space relations among joints by designing a threshold of residual associated with manipulator end trajectory excursion from desired track.更多还原