Joint Configuration Optimization of Manipulator at Faulty Time Based on Manipulability Maximization

被引：0
|
作者：
Liu, Bei [1 ]
Li, Kene [1 ]
Zhang, Zeng [1 ]
Mo, Qiaoliang [1 ]
Dai, Xisheng [1 ]
Ye, Hongtao [1 ]
机构：
[1] Guangxi Univ Sci & Technol, Sch Elect & Informat Engn, Liuzhou 545006, Peoples R China
来源：
PROCEEDINGS OF 2020 IEEE 9TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE (DDCLS'20) | 2020年
关键词：
Redundant Manipulator; Jacobian Matrix; Forward Kinematics; Fault-tolerance; Joint Angle; Manipulability;
D O I：
10.1109/ddcls49620.2020.9275158
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
When a redundant manipulator suffers a joint failure, the flexibility of the manipulator operation will be affected, which will result in the failure of the task execution. In order to make the manipulator have more fault-tolerant performance, joint configuration optimization of manipulator at faulty time based on manipulability maximization is proposed. In this paper, the manipulability is used as the fault-tolerant performance index of the manipulator. By constructing the equation between manipulability and joint angles, the optimal joint angle is finally obtained at faulty time, making the manipulator manipulability to be maximized.
引用
收藏
页码：684 / 689
页数：6
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