failure moment meaning in English
破坏力矩
Examples
- Planning the end - effector ' s motion by utilizing reduced manipulability and center index can guarantee higher dexterity ability for redundant manipulators at failure moment . since in advance the end - effector ' s motion is in the corresponding center of fault tolerant workspace , it is guaranteed that the reduced manipulator can accomplish the unfinished task after the failure and can constantly keep higher dexterity ability during the post - failure operation . thirdly , fault tolerant planning is researched through simulation examples for a planar 3r manipulator and a spatial 4r manipulator
采用退化可操作度和中心度指标来规划机械臂末端轨迹，能保证冗余度机械臂在发生故障时刻具有较高的操作能力；由于预先将末端轨迹置于相应容错空间的中心，不仅保证发生锁定故障后能继续完成后续的操作任务，还能保证退化后的非冗余度机械臂在完成后续操作任务的过程中，始终保持较高的操作能力。 - In this dissertation ， fault tolerant planning of kinematical redundant manipulators for locked joint failures is discussed . the synchronous fault tolerant planning at failure moment and after failure moment for redundant manipulators is systemically investigated . besides , the preliminary research of fault tolerance for coordinating manipulators is done
本文针对冗余度机器人发生锁死故障类型进行了研究，对其故障时刻和故障后的同步容错轨迹规划问题进行了深入、系统的分析，此外还对两机器人的协调操作问题进行了初步仿真研究。