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摘要：随着计算机、电子信息、自动控制、机械自动化的发展和各种新型材料的应用，移动机器人技术与日俱进。移动机器人已被广泛应用于工业、农业、军事、太空探索、深海探索、医疗、救援和日常生活中。现代的工农产业、军事领域的日趋复杂化以及人们对生活质量的不断追求，使得对移动机器人功能要求越来越高，制造机器人技术也越来越先进、部件越来越复杂。从简单到智能、从人工到自主运行、从已知环境到未知环境、从单机器人操作到多机器人协调及编队工作等等，这些应用都对移动机器人的稳定性提出了一定要求。
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如果移动机器人在带故障状态下运行，一方面会使移动机器人的寿命缩短，另一方面还可能带来严重的后果。在面对未知的、复杂和多变的应用环境时，机器人经常避免不了会出现故障。因此，对于移动机器人进行及时故障诊断和容错控制具有重要意义。24473
本文的主要工作如下：分析各个硬件可能导致的故障，列出机器人在不动和移动时可能出现偏差故障列表。通过推导机器人的运动学方程 得出理论上的运动轨迹方程 然后通过实验采样 得出实际上的位移 算出与理论值的误差 并将采样的数据通过Origin-pro软件进行线性拟合 得出具体的补偿值 从而进行机器人的误差补偿。
毕业论文关键词： 故障诊断； Origin-pro软件；移动机器人；容错控制；故障列表
Fault detection and fault-tolerant control of mobile robots
Abstract: With the application of computer, electronic information, automatic control, mechanical automation development and various new materials, mobile robotics change quickly and continuously.Mobile robots have been widely used in industrial, agricultural, military, space exploration, deep-sea exploration, medical, rescue and everyday life. Modern industrial workers and peasants, the military field as well as the increasing complexity of people's constant pursuit of quality of life, so the demand for mobile robots have been higher and higher , the technology of the robot manufacturing has been more advanced and complex. From the simple application to intelligent, from artificial participation to self-organization operation, from known to unknown environment application environment, from single robot to multiple robots coordination and formation work and so on, and puts forward some requirements of these applications on mobile robot stability.
If the mobile robot running in fault state, on one hand, shorten the mobile robot's life, on the other hand, may also have a negative impact, sometimes may have disastrous consequences. Even if it takes a lot of manpower and capital investment to the elaborate design and manufacturing of mobile robot, robot can not avoid malfunction when it is facing the unknown, complex and changing environments. Therefore, fault diagnosis and fault-tolerant control is very important to the mobile robot.
The main work is as follows: first of all, through dismantling robot hardware by manual, we are analyzing the fault which the hardware may be lead to and use these fault to list a fault list. Derived theoretical trajectory equation by down the robot kinematics. Then get actually displacement by experiment. Calculating the error of the theoretical value. And let the sampled data for linear fit by Origin-pro software. Then get specific compensation values obtained the error compensation of the robot to compensate the error of the robot.
Key words：Fault diagnosis; Origin-pro software; mobile robot; fault-tolerant control; fault list
目 录
第一章 绪论 1
1.1 移动机器人的简介 1
1.2移动机器人的故障检测及容错控制的重要性 2
1.3故障诊断及容错控制简介 3
1.3.1 故障基本概念 2
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