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

摘要

The sudden change of joint velocity in fault tolerant operations for two coordinating manipulators is studied. A performance criterion with the sudden change in joint velocity and corresponding fault tolerant planning algorithm are proposed. Simulation examples show that this algorithm can effectively avoid the sudden change in joint velocity occurring in the fault tolerant operations of two coordinating manipulators, increase their motion stability and so improve their kinematical and dynamic properties in fault tolerant operations.