Study on fault tolerant workspace and fault tolerant planning algorithm based on optimal initial position for two spatial coordinating manipulators

DOI10.1016/J.MECHMACHTHEORY.2005.07.004MaRDI QIDQ2489522zbMATH OpenOpenAlexFDO

Authors Jing Zhao, Kailiang Zhang, Xuebin Yao

Publication date 28 April 2006

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2005.07.004

zbMATH Keywords

Fault tolerant algorithmFault tolerant workspaceOptimal initial positionSpatial coordinating manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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• The optimization of initial posture with avoidance of the sudden change in joint velocity for fault tolerant operations of two coordinating redundant manipulators

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