Research on Fault Tolerant Control Strategy of Multi-Degree-of-Freedom Manipulator with Single Joint Faults

摘要

While performing the typical task of point-to-point motion of redundant manipulator, single joint faults suddenly occur. Considering the effect of the configuration on the manipulator's task, here we propose an improved genetic algorithm based on the measurement of manipulator end-to-target position error and the manipulability measure, which makes the end of the manipulator arrive at the target position with less error finally. In addition, it also makes the machine has a greater operable arm configuration upon arrival. MTALAB is used for modeling and simulating with a three-link planar arm as an example. Several groups of simulation experiments are carried out to compare the improved genetic algorithm with the traditional genetic algorithm based on position error, and the simulation results are analyzed and discussed. Finally, the physical robot proves the validity and reliability of this method.