TY - JOUR
T1 - A unified formula of fault-tolerant algorithms considering joint velocity jump for redundant robots
AU - Zhao, J.
AU - Xie, B.
AU - Liu, Y.
PY - 2012/6
Y1 - 2012/6
N2 - Based on the previous research studies, the analytical formula of the optimal joint velocity with minimum jump for robots with multi-degrees of redundancy is derived. This new algorithm considers the motion planning of healthy and reduced robots at the same time to achieve an overall better performance of fault tolerance. Simulation examples are implemented with a planar 4 R robot and a 5 R spatial robot. In the end, the issues of reducing the joint velocity jump and thereby improving the motion stability for both single-degree and multi-degree redundant robots in fault-tolerant operations are completely solved.
AB - Based on the previous research studies, the analytical formula of the optimal joint velocity with minimum jump for robots with multi-degrees of redundancy is derived. This new algorithm considers the motion planning of healthy and reduced robots at the same time to achieve an overall better performance of fault tolerance. Simulation examples are implemented with a planar 4 R robot and a 5 R spatial robot. In the end, the issues of reducing the joint velocity jump and thereby improving the motion stability for both single-degree and multi-degree redundant robots in fault-tolerant operations are completely solved.
KW - fault tolerance
KW - joint velocity jump
KW - motion planning
KW - redundant robot
UR - http://www.scopus.com/inward/record.url?scp=84864458709&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864458709&partnerID=8YFLogxK
U2 - 10.1177/0954406211425440
DO - 10.1177/0954406211425440
M3 - Article
AN - SCOPUS:84864458709
SN - 0954-4062
VL - 226
SP - 1663
EP - 1671
JO - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
JF - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
IS - 6
ER -