【作者】 缪萍；

【导师】 赵京；

【作者基本信息】 北京工业大学 ， 机械设计与理论， 2002， 硕士

【摘要】 本文针对冗余自由度机器人可预测会发生自由摆动故障时的运动学优化及故障后机器人运动规划进行了深入、系统的研究，此外还对机器人协调操作运动学进行了初步的探讨。 首先，通过对以往文献的分析，指出机器人关节发生自由摆动故障作为机器人一种故障类型越来越受到学者的关注。在对冗余度机器人运动学优化基础理论进行探讨的基础上，结合发生自由摆动故障时机器人运动的特性，建立了冗余度机器人优化性能指标，构造了单个冗余度机器人可预测会发生自由摆动故障时运动学优化模型。随后对冗余度机器人运动学优化模型稳定性与优化能力之间的矛盾进行了讨论，并在此基础上进一步研究了机器人多关节优化问题。 其次，对冗余度机器人在发生自由摆动故障后的运动学规划问题进行了研究。探讨了发生自由摆动故障后机器人故障关节以上部分运动的实质，并用公式表达出来作为约束条件，再与冗余度机器人运动学方程联立，利用这一方程组对机器人进行故障后运动规划。 通过分析实验仿真的结果，证明了本文提到的冗余度机器人故障后运动规划模型是可行的，同时指出故障后机器人运动规划面临的一些新问题。结合冗余度机器人容错研究发展的一些方向，例如保证机器人末端轨迹上某些点不发生误差等等，对本文所研究的内容进行了拓宽，对故障后机器人运动规划所面临的一些新问题进行了有益的探讨。 最后，对机器人协调操作的运动学规划进行了研究。建立了冗余度机器人协调操作的数学模型，利用该模型对两机器人抓持同一刚体的情况进行了仿真。在此基础上，把单个冗余度机器人容错研究成果移植到机器人协调操作中，探讨了两冗余度机器人协调操作中从机器人发生自由摆动故障时的运动规划问题，指出它是有约束条件下的自由摆动。更多还原

【Abstract】 In this dissertation, fault tolerance for kinematically redundant robot in anticipating free-swinging joint failures and kinematical planning after a failure have been deeply and systematically researched. Besides , the preliminary investigation of fault tolerance for coordinating robots.Firstly, from analyzing other scholar’s literatures, the problems of fault tolerance for kinematically redundant robot in anticipating free-swinging joint failures which is one type of failures are investigated. Scalar measure of fault susceptibility is defined using end error. Minimizing this measure is an approach to achieving fault tolerance, and for this, mathematic model is constructed. Then the contradiction between stability and optimization capacity are analyzed. Also, the multi-joint fault tolerance for redundant robots is researched.Secondly, kinematical planning for redundant robots after free-swinging joint failure is investigated. In order to control redundant robot’s movement after a failure, the essential of robot’s failure part(from failure joint to top) movement is discussed. Combined with redundant robot kinematics equations, robot’s movement after a failure is planed.Simulation results show that the above method is suitable for redundant robot kinematical planning before and after a failure. Also, some new problems after free-swinging joint failures are pointed out. Combined with the interesting topics in this field, these unsolved problems are discussed in this article.Finally, the fault tolerance for coordinating manipulations of two redundant robots is preliminary investigated. The kinematical model of two coordinating redundant robots is constructed and analyzed through simulation examples. Based on the above studies, the fault tolerant planning ofcoordinating redundant robots after free-swinging joint failures of follower robot is researched, unlike single redundant robot, it’s free-swinging under some restrictions.更多还原