Motion Planning Based on Two New Fault Tolerant Indexes for Redundant Manipulators

作     者：Jing Zhao Hongmei Jing School of Mechanical Engineering & Electronics Technology Beijing Polytechnic University Beijing 100022 China 

会议名称：《第十一届IFTOMM世界大会》

会议日期：2004年

学科分类：08[工学] 0804[工学-仪器科学与技术] 

关 键 词：Motion planning Redundant manipulator Fault tolerant indexes 

摘      要：正A new physical meaning of manipulability measure 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.