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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  • [1]Maciejewski A A. Fault tolerant properties of kinematically redun-dant manipulators . In:Richard A Volz, ed. Proc of IEEE Inter Conf on Robotics and Automation . Los Alamitos:IEEE Computer Society Press,1990.638~642. [2]Lewis C L, Maciejewski A A. Dexterity optimization of kinematically redundant manipulators in the presence of joint failures[J]. Computers Elect Engineering,1994,20(3):273~288. [3]Visinsky M L, Walker I D, Cavallaro J R. Layered dynamic fault detection and tolerance for robots . In:Robert Werner, Lisa O'Conner,eds. Proc of IEEE Inter Conf on Robotics and Automation . Los Alamitos:IEEE Computer Society Press, 1993.180~187. [4]Ting Y,Tosunoglu S, Fernandez B. Control algorithms for fault-tolerant robots . In:Edua Straub, Regina Spencer Sipple,eds. Proc of IEEE Inter Conf on Robotics and Automation . Washington DC:IEEE Computer Society Press, 1994.910~915. [5]Groom K N, Maciejewski A A, Balakrishnan V. Real-time failure-tolerant control of kinematically redundant manipulators . In:Ray Harrigan, ed. Proc of IEEE Inter Conf on Robotics and Automation .New Mexico:Albuquerque, 1997.2595~2600. [6]Yoshikawa T. Analysis and control of robot manipulators with redundancy . In:Michael Brady, Richard Paul,eds. Proc 1st Inter Symp of Robotics Research . Cambridge Mass:MIT Press,1984.735~748. [7]周东辉.冗余度机器人机构学研究 .北京:北京航空航天大学机械工程及自动化学院,1994. [8]Klein C A, Blaho B E. Dexterity measures for the design and control of kinematically redundant manipulators[J]. Inter J of Robotics Research,1987, 6(2):72~83.
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