On the joint velocity jump during fault tolerant operations for manipulators with multiple degrees of redundancy

DOI10.1016/J.MECHMACHTHEORY.2008.08.005zbMath1178.70035OpenAlexW1965306257MaRDI QIDQ1032187

Zhao Jing, Fang Cheng

Publication date: 26 October 2009

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2008.08.005

zbMATH Keywords

manipulatorfault tolerant operationjoint velocity jumpmultiple degrees of redundancy

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (1)

A methodology for actuator failure recovery in parallel manipulators

Cites Work

• The optimization of initial posture with avoidance of the sudden change in joint velocity for fault tolerant operations of two coordinating redundant manipulators
• Analyzing unidentified locked-joint failures in kinematically redundant manipulators
• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms

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