冗余机器人的最优资源分配方法及容错控制

IF 1 4区工程技术 Q4 ENGINEERING, MECHANICAL

Mechanical Sciences Pub Date : 2023-10-06 DOI:10.5194/ms-14-399-2023

Yu Rong, Tianci Dou, Xingchao Zhang

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引用次数: 0

摘要

摘要针对关节失效后机器人无法继续工作的问题，提出了降低失效概率的资源协调与分配策略。首先，利用机器学习中无监督分支下的主成分分析法，对机器人的可靠性函数和各项指标进行分析，得到机器人的综合评价函数;然后，基于容错控制逆运动学优化算法，通过加权处理对各关节进行调度。最后，利用综合评价函数作为评价故障发生概率的指标，并定义权重，实现冗余机器人的资源协调分配。以平面四转动关节(4R)冗余机器人为例，对算法控制进行了比较。在合理建模和实物验证的基础上，验证了资源优化协调与配置方法的有效性。

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Optimal resource allocation method and fault-tolerant control for redundant robots

Abstract. Resource coordination and allocation strategies are proposed to reduce the probability of failure by aiming at the problem that the robot cannot continue to work after joint failure. Firstly, the principal component analysis method under unsupervised branches in machine learning is used to analyze the reliability function and various indexes of the robot to obtain the comprehensive evaluation function. Then, based on the fault-tolerant-control inverse-kinematics optimal algorithm, each joint can be scheduled by weighted processing. Finally, the comprehensive evaluation function is used as an index to evaluate the probability of fault occurrence, and the weight is defined to realize the coordinated resource allocation of redundant robots. Taking the planar four revolute joints (4R) redundant robot as an example, the algorithm control is compared. Based on reasonable modeling and physical verification, the results show that the method of optimal resource coordination and allocation is effective.

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来源期刊

Mechanical Sciences ENGINEERING, MECHANICAL-

CiteScore

2.20

自引率

7.10%

发文量

审稿时长

29 weeks

期刊介绍： The journal Mechanical Sciences (MS) is an international forum for the dissemination of original contributions in the field of theoretical and applied mechanics. Its main ambition is to provide a platform for young researchers to build up a portfolio of high-quality peer-reviewed journal articles. To this end we employ an open-access publication model with moderate page charges, aiming for fast publication and great citation opportunities. A large board of reputable editors makes this possible. The journal will also publish special issues dealing with the current state of the art and future research directions in mechanical sciences. While in-depth research articles are preferred, review articles and short communications will also be considered. We intend and believe to provide a means of publication which complements established journals in the field.