发表机构
Laboratoire Génie Industriel, CentraleSupélec, Université Paris-Saclay; Chair of Risk and Resilience of Complex Systems, CentraleSupélec, Université Paris-Saclay; Key Laboratory of Urban Underground Engineering, Beijing Jiaotong University（巴黎萨克雷大学中央理工高等电力学院工业工程实验室; 巴黎萨克雷大学中央理工高等电力学院复杂系统风险与韧性教席; 北京交通大学城市地下工程教育部重点实验室）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对机械臂长期运行中关节退化不均导致过早失效的问题，提出RUL-Aware RRT*方法，将剩余使用寿命信息融入规划并自适应调整关节使用，实验表明能抑制退化不平衡、延迟故障并提升长期可靠性。
AI 中文摘要
长时间运行的机械臂经常经历不均匀的关节退化，这导致最弱的执行器过早失效，引发计划外停机，并造成重大的运营损失。传统的运动规划算法不考虑关节健康状态，因此在长时间运行中往往会加剧这种不平衡。为解决这一挑战，本研究引入了RUL-Aware RRT*，一种将关节剩余使用寿命信息纳入规划过程，并根据不断变化的健康状态自适应调整关节使用的运动规划方法。该方法在三个代表性场景中进行了评估，即完全健康场景（FHS）、异质退化场景（HDS）和局部退化场景（LDS）。结果表明，RUL-Aware RRT*有效抑制了退化不平衡，延迟了瓶颈故障的出现，并提高了机器人系统在长时间运行中的长期可靠性。这些发现表明，将健康反馈整合到运动规划中，为增强持续磨损下机械臂的耐久性和运行韧性提供了一条实用且稳健的途径。
英文摘要
Robotic manipulators operating over long durations often experience uneven joint degradation, which causes the weakest actuator to fail prematurely, leads to unplanned downtime, and results in significant operational losses. Traditional motion-planning algorithms do not account for joint health conditions and therefore tend to exacerbate this imbalance during extended operation. To address this challenge, this study introduces the RUL-aware RRT*, a motion-planning method that incorporates joint remaining useful life information into the planning process and adaptively adjusts joint usage in response to evolving health conditions. The method is evaluated across three representative scenarios, namely the Full Health Scenario (FHS), the Heterogeneous Degradation Scenario (HDS), and the Local Degradation Scenario (LDS). The results show that the RUL-aware RRT* effectively suppresses degradation imbalance, delays the emergence of bottleneck failures, and improves the long-term reliability of the robotic system during extended operation. These findings demonstrate that integrating health feedback into motion planning provides a practical and robust pathway for enhancing the durability and operational resilience of manipulators subject to continuous wear.
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