کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10400044 | 890805 | 2012 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Fault-tolerant motion planning and control of redundant manipulator
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
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چکیده انگلیسی
One important issue in the motion planning of a kinematic redundant manipulator is fault tolerance. In general, if the motion planner is fault tolerant, the manipulator can achieve the required path of the end-effector even when its joint fails. In this situation, the contribution of the faulty joint to the end-effector is required to be compensated by the healthy joints to maintain the prescribed end-effector trajectory. To achieve this, this paper proposes a fault-tolerant motion planning scheme by adding a simple fault-tolerant equality constraint for the faulty joint. Such a scheme is then unified into a quadratic program (QP), which incorporates joint-physical constraints such as joint limits and joint-velocity limits. In addition, a numerical computing solver based on linear variational inequalities (LVI) is presented for the real-time QP solving. Simulative studies and experimental results based on a six degrees-of-freedom (DOF) redundant robot manipulator with variable joint-velocity limits substantiate the effectiveness of the proposed fault-tolerant scheme and its solution.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 20, Issue 3, March 2012, Pages 282-292
Journal: Control Engineering Practice - Volume 20, Issue 3, March 2012, Pages 282-292
نویسندگان
Kene Li, Yunong Zhang,