کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
8056337 | 1519934 | 2016 | 17 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Fault-tolerant analysis and control of SSRMS-type manipulators with single-joint failure
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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
In this paper, we analysed and compared the manipulation capability of SSRMS-type manipulators with joints locked at arbitrary positions, and proposed efficient path planning via a fault-tolerant control method. First, a unified kinematic model of this type of manipulators was established. Second, the manipulation capability of the original 7-DOF (degrees of freedom) redundant manipulator was analysed and compared with its degraded 6-DOF counterparts formed by different joint locking configurations. Then, we identified those joints with large sensitivity to fault tolerance performance. The influences of different positions of all joints were also determined by numerical computation. Based on the analysis, the relatively safe and dangerous regions for each joint failure were identified. Finally, we proposed a path planning strategy and realized by a Hâ controller which enables the failure joint locked in the safe region, and simulations were carried on a degraded 3-DOF planar redundant manipulator to verify the planning strategy and control approach. This paper provided important analysis results and efficient methods to address the possible problems of SSRMS-type manipulators caused by single-joint failure that can be extended to other types of manipulators. Moreover, the proposed method is useful for designing the optimal configuration of a redundant manipulator.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Acta Astronautica - Volume 120, MarchâApril 2016, Pages 270-286
Journal: Acta Astronautica - Volume 120, MarchâApril 2016, Pages 270-286
نویسندگان
Yu She, Wenfu Xu, Haijun Su, Bin Liang, Hongliang Shi,