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.
History
Event
IEEE International Conference on Robotics, Automation and Mechatronics (2010 : Singapore)
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Publication classification
E1 Full written paper - refereed
Copyright notice
2010, IEEE
Title of proceedings
RAM 2010 : Proceedings of the 2010 IEEE International Conference on Robotics, Automation and Mechatronics