FAULT TOLERANT MOTION PLANNING WITH THE AVOIDANCE OF THE SUDDEN CHANGE IN JOINT VELOCITY FOR TWO COORDINATING REDUNDANT MANIPULATORS

摘要

The sudden change of joint velocity in fault tolerant operation of two coordinating manipulators for joint-locking failures is studied. First, the difference between the joint velocity of original manipulator and that of reduced manipulator is defined as the sudden change in joint velocity. Then, a corresponding fault tolerant planning algorithm based on this criterion is proposed. At last, a simulation example of fault tolerant operations is implemented with two planar 3R manipulators. Simulation results show that this algorithm can effectively avoid the sudden change of joint velocity occurring in fault tolerant operation of two coordinating manipulators, strengthen their motion stability and so improve their kinematical and dynamic properties in fault tolerant operations.