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

DOI10.1016/J.MECHMACHTHEORY.2004.12.003MaRDI QIDQ557966zbMATH OpenOpenAlexFDO

Authors Jing Zhao, Xuebin Yao, Lei Zhang

Publication date 30 June 2005

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

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2004.12.003

zbMATH Keywords

Coordinating manipulationFault tolerant motion planningRedundant manipulatorSudden change in joint velocity

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(3)

• On the joint velocity jump during fault tolerant operations for manipulators with multiple degrees of redundancy
• Study on fault tolerant workspace and fault tolerant planning algorithm based on optimal initial position for two spatial coordinating manipulators
• Optimal control of the E-L dynamic systems during the actuator faults

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