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Abstract: A new physical meaning of manipulability is given. Reduced
manipulability is analyzed, and arm length index and rotation angle
index which express fault tolerant workspace and actual manipulability
respectively are proposed. Synchronous fault tolerant planning of joint
motion and end-effector motion is researched through simulation examples
for a planar 3R manipulator. Research results show that the maximization
of rotation angle index can avoid the singular configuration of the
reduced manipulator at failure moment, while the maximization of arm
length index can avoid the singular configuration of the reduced
manipulator after the failure.
Key words: Redundancy Manipulator Synchronous fault tolerant planning
CLC No: TP242
教育部(M01020001)和北京市教育委员会(00KJ-023)资助项目. Received 20011123, received in
revised form 20020620
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