Volume 28 Issue 1
Jan.  2002
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LI Jian, LI Jian-feng, WU Zhen, et al. On Manipulability Based Fault Tolerant Measure of Redundant Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2002, 28(1): 54-57. (in Chinese)
Citation: LI Jian, LI Jian-feng, WU Zhen, et al. On Manipulability Based Fault Tolerant Measure of Redundant Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2002, 28(1): 54-57. (in Chinese)

On Manipulability Based Fault Tolerant Measure of Redundant Robot

  • Received Date: 16 May 2000
  • Publish Date: 31 Jan 2002
  • 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.

     

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