Synchronous fault tolerant planning of joint motion and end-effector motion for redundant manipulators

被引：0
|
作者：
Zhao, Jing [1 ]
Miao, Ping [1 ]
Jing, Hongmei [1 ]
机构：
[1] Beijing Polytech. Univ., Beijing 100022, China
来源：
Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering | 2003年 / 39卷 / 03期
关键词：
Fault tolerant computer systems - Motion planning - Redundancy - Rotation;
D O I：
10.3901/jme.2003.03.053
中图分类号：
学科分类号：
摘要：
A new physical meaning of manipulability is given. Reduced manipulability is analyzed, and arm length index and rotation angle index which express the fault tolerant workspace and actual manipulability are proposed. Synchronous fault tolerant planning of joint motion and end-effector motion is researched through simulation examples for a planar 3R manipulator. Research results show that the maximization of rotation angle index can avoid the singular configuration of the reduced manipulator at failure moment, while the maximization of arm length index can avoid the singular configuration of the reduced manipulator after the failure.
引用
收藏
页码：53 / 57
相关论文
共 50 条
  • [41] A New Noise-Tolerant Obstacle Avoidance Scheme for Motion Planning of Redundant Robot Manipulators
    Guo, Dongsheng
    Xu, Feng
    Yan, Laicheng
    Nie, Zhuoyun
    Shao, Hui
    FRONTIERS IN NEUROROBOTICS, 2018, 12
  • [42] Concise Discrete ZNN Controllers for End-Effector Tracking and Obstacle Avoidance of Redundant Manipulators
    Yang, Min
    Zhang, Yunong
    Tan, Ning
    Hu, Haifeng
    IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2022, 18 (05) : 3193 - 3202
  • [43] Fault tolerant motion planning and control of space manipulators with free-swinging joint failure based on controllable degree
    Fu, Yingzhuo
    Jia, Qingxuan
    Chen, Gang
    Li, Tong
    Wang, Hanxiao
    ADVANCES IN SPACE RESEARCH, 2022, 69 (07) : 2770 - 2786
  • [44] Multisensor Data Fusion for Robotic End-effector Motion Estimation
    Xue Guangyue
    Ren Xuemei
    Huang Hong
    PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE, 2010, : 3684 - 3688
  • [45] Fault tolerant operation of kinematically redundant manipulators for locked joint failures
    Lewis, CL
    Maciejewski, AA
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1997, 13 (04): : 622 - 629
  • [46] Coupling Mobile Base and End-Effector Motion in Task Space
    Welschehold, Tim
    Dornhege, Christian
    Paus, Fabian
    Asfour, Tamim
    Burgard, Wolfram
    2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2018, : 7158 - 7163
  • [47] End-effector design optimisation and multi-robot motion planning for handling compliant parts
    Emile Glorieux
    Pasquale Franciosa
    Darek Ceglarek
    Structural and Multidisciplinary Optimization, 2018, 57 : 1377 - 1390
  • [48] End-effector design optimisation and multi-robot motion planning for handling compliant parts
    Glorieux, Emile
    Franciosa, Pasquale
    Ceglarek, Dariusz
    STRUCTURAL AND MULTIDISCIPLINARY OPTIMIZATION, 2018, 57 (03) : 1377 - 1390
  • [49] COORDINATED MOTION PLANNING OF LEGGED MOBILE MANIPULATOR FOR TRACKING THE GIVEN END-EFFECTOR'S TRAJECTORY
    Bhavanibhatla, Kondalarao
    Suresh-Fazeela, Sulthan
    Pratihar, Dilip Kumar
    PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2019, VOL 4, 2020,
  • [50] New motion planning method of flexible redundant manipulators by optimizing redundant configuration
    Beijing Polytechnic Univ, Beijing, China
    Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 2000, 36 (07):
12345