Volume 26 Issue 6
Jun.  2000
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CHEN Wei-hai, WU Zhen, DING Xi-lun, et al. Research on FaultTolerant Control of Dynamically Redundant Manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2000, 26(6): 726-730. (in Chinese)
Citation: CHEN Wei-hai, WU Zhen, DING Xi-lun, et al. Research on FaultTolerant Control of Dynamically Redundant Manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2000, 26(6): 726-730. (in Chinese)

Research on FaultTolerant Control of Dynamically Redundant Manipulators

  • Received Date: 06 May 1999
  • Publish Date: 30 Jun 2000
  • This paper is focused on the fault-tolerant control of dynamically redundant manipulators. Through optimizing the ellipsoidal sphere of joint torque, the dynamic fault-tolerant ability will be improved because the product of the principal axis length of the sphere can be increased. Based on this method, a joint torque redistribution algorithm for online fault-tolerant control of dynamically redundant manipulators has been presented. In order to reduce the error of trajectory tracing, the effects of PID and SMC control laws have also been compared. The effectiveness of the proposed algorithms has been demonstrated by simulation.

     

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