A unified formula of fault-tolerant algorithms considering joint velocity jump for redundant robots

摘要

Based on the previous research studies, the analytical formula of the optimal joint velocity with minimum jump for robots with multi-degrees of redundancy is derived. This new algorithm considers the motion planning of healthy and reduced robots at the same time to achieve an overall better performance of fault tolerance. Simulation examples are implemented with a planar 4 R robot and a 5 R spatial robot. In the end, the issues of reducing the joint velocity jump and thereby improving the motion stability for both single-degree and multi-degree redundant robots in fault-tolerant operations are completely solved.