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�������պ����ѧѧ�� 2002, Vol. 28 Issue (1) :54-57    DOI:
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On Manipulability Based Fault Tolerant Measure of Redundant Robot
LI Jian, LI Jian-feng, WU Zhen, ZHANG Qi-xian*
Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation

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Abstract�� 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.
Keywords�� redundancy   robots   fault-tolerant technique   joint failure   fault tolerant measure     
Received 2000-05-16;


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�, ���, ����, ������.���ڿɲ����ȵĵ�����Ȼ������ݴ���ָ��[J]  �������պ����ѧѧ��, 2002,V28(1): 54-57
LI Jian, LI Jian-feng, WU Zhen, ZHANG Qi-xian.On Manipulability Based Fault Tolerant Measure of Redundant Robot[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2002,V28(1): 54-57
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