首页|期刊导航|高技术通讯（英文版）|Fault tolerant motion planning based on joint torque limit for redundant manipulators
高技术通讯（英文版）2006，Vol.12Issue(1)：72-76,5.
Fault tolerant motion planning based on joint torque limit for redundant manipulators
Fault tolerant motion planning based on joint torque limit for redundant manipulators
摘要
Abstract
First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter is suitable for the high-speed manipulators. These algorithms not only can insure manipulation tasks to lie within the fault tolerant workspace but also can avoid joint torque limit, and hence can insure a redundant manipulator to be fault tolerant in both kinematical sense and dynamic sense. Then, the simulation examples for a planar 3R manipulator demonstrate the validity of these algorithms.关键词
redundant/manipulator/joint torque limit/fault tolerant planningKey words
redundant/manipulator/joint torque limit/fault tolerant planning分类
信息技术与安全科学引用本文复制引用
..Fault tolerant motion planning based on joint torque limit for redundant manipulators[J].高技术通讯（英文版）,2006,12(1):72-76,5.基金项目
Supported by Beijing Municipal Natural Science Foundation Committee and the High Technology Research and Development Programme of China (No.2003AA404140). （No.2003AA404140）
