Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 1663-1671 |
| Number of pages | 9 |
| Journal | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science |
| Volume | 226 |
| Issue number | 6 |
| DOIs | |
| State | Published - Jun 2012 |
Keywords
- fault tolerance
- joint velocity jump
- motion planning
- redundant robot
ASJC Scopus subject areas
- Mechanical Engineering