Manipulability-based fault-tolerant measure of redundant robot

被引：0

作者：

Li, Jian ^{[1
]}

Li, Jian-Feng ^{[1
]}

Wu, Zhen ^{[1
]}

ZHang, Qi-Xian ^{[1
]}

机构：

[1] Sch. of Mech. Eng. and Automat., Beijing Univ. of Aero. and Astron., Beijing 100083, China

来源：

Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2002年 / 28卷 / 01期

关键词：

Fault tolerant computer systems - Joints (anatomy) - Manipulators - Optimization - Redundancy - Simulation;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

When a redundant manipulator suffers a joint failure, its dexterity will be significantly affected. A joint failure may result in a singular configuration even if the manipulator operates in a relatively dexterous configuration, as a result, the manipulator can't perform arbitrary end effector motions. Fault-tolerance of redundant manipulator is examined in this work. Considering the condition that one joint is failed, manipulability is explored to evaluate the fault-tolerant property and new measure is proposed. This measure is characterized by little computation and can be implemented online. Finally, simulation result illustrates the validity of the proposed measure.

引用

页码：54 / 57

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