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

DOI10.1016/J.MECHMACHTHEORY.2004.12.003zbMath1127.70303OpenAlexW1986465420MaRDI QIDQ557966

Xuebin Yao, Jing Zhao, Lei Zhang

Publication date: 30 June 2005

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

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2004.12.003

zbMATH Keywords

Coordinating manipulationFault tolerant motion planningRedundant manipulatorSudden change in joint velocity

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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

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