Mobile robot systems are being used more often in tasks that protect human operators from
dangerous environments, but these benefits can be easily lost if the robots spend much of …

The joint velocity jump during fault tolerant operations for redundant manipulators is defined,
and the analytical formulation of joint velocity of the reduced manipulator with minimum joint …

针对两机械臂协调操作中发生关节坏死这类故障时的容错运动规划问题进行研究. 首先,
建立了两机械臂协调操作的运动学方程, 给出了容错空间的计算步骤. 然后 …

Fault tolerant motion planning of two spatial coordinating manipulators having two possible
locked joints respectively is studied. First, the calculation method of fault tolerant workspace …

The sudden change of joint velocity in fault tolerant operations for two coordinating
manipulators is studied. A performance criterion with the sudden change in joint velocity and …

Motivated by the importance of fault-tolerant control for robot movement, a fault-tolerant
motion planning scheme is proposed to eliminate the joint velocity jump of the redundant …

When one joint of a manipulator fails and is locked, the velocities of remaining joints will
produce sudden change. The sudden change of joint velocity in fault tolerant operation of …

An extra joint in kinematically redundant manipulators creates greater dexterity in task
execution. For the end-effector location of a kinematically redundant manipulator, an infinite …

The joint velocity jump for redundant robots in the presence of locked-joint failures is
discussed in this paper. First, the analytical formula of the optimal joint velocity with minimum …

针对两协调机械臂在发生锁定关节故障的容错操作中关节速度突变问题进行了研究.
首先将原机械臂关节速度与退化机械臂关节速度之差定义为容错操作中的关节速度突变; …