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Abstract: T he
relationship of manipulability between the redundant manipulator
and its alt sub-manipulators is formulated on the basis of
dexterous analysis, The discussion about relative
manipulability is followed, Furthermore, according to the
manipulability of sub-manipulators and corresponding relative
sub-manipulators, a new optimizing object for kinematic fault
tolerance is presented. The algorithm is characterized by less
computation, rent-time implementation and capability of keeping
joint velocity continuity. The proposed object suits for one
joint or multi-joint failure. The validity of the proposed
algorithm is demonstrated by (lie simulation result.
Key words: Redundant
manipulators Multi-joint failure Fault-tolerant criteria Fault-tolerant optimizing algorithm
CLC No: TP242
Received 20001220, received in revised form 20011218
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