Joint velocity redistribution for fault tolerant manipulators
Abdi, Hamid and Nahavandi, Saeid 2010, Joint velocity redistribution for fault tolerant manipulators, in RAM 2010 : Proceedings of the 2010 IEEE International Conference on Robotics, Automation and Mechatronics, IEEE, Piscataway, N. J., pp. 492-497, doi: 10.1109/RAMECH.2010.5513145.
If the end-effector of a robotic manipulator moves on a specified trajectory, then for the fault tolerant operation, it is required that the end-effector continues the trajectory with a minimum velocity jump when a fault occurs within a joint. This problem is addressed in the paper. A way to tolerate the fault is to find new joint velocities for the faulty manipulator in which results into the same end-effector velocity provided by the healthy manipulator. The aim of this study is to find a strategy which optimally redistributes the joint velocities for the remained healthy joints of the manipulators. The optimality is defined by the minimum end-effector velocity jump. A solution of the problem is presented and it is applied to a robotics manipulator. Then through a case study and a simulation study it is validated. The paper shows that if would be possible the joint velocity redistribution results into a zero velocity jump.
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