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A New Analytical Expression of Joint Velocity Jump for Redundant Robots in Fault Tolerant Operations

FANG Cheng ZHAO Jing ZHANG Hong-guang (College of Mechanical Engineering and Applied Electronics Technology,Beijing Polytechnic University,Beijing 100022,China)

Abstract: While a redundant robot is still able to continue the desired task in the presence of locked-joint failures,its joint velocity jump at the instant of locking joint will occur obviously.This work discusses the joint velocity jump of redundant robots in fault tolerant operations for locked-joint failures.A new analytical expression with calculating the joint velocity jump is proposed and proved.The analytical expression indicates that the joint velocity jump of redundant robots in fault tolerant o... More
Keywords：

Redundant robot; Fault tolerant operations; Joint velocity jump;

Conference Name：

中国机构与机器科学国际会议暨海峡两岸第四届机构学研讨会

Conference Time：

2008-07

Conference Place：

中国河北秦皇岛

  • Series：

    (I) Electronic Technology ＆ Information Science

  • Subject：

    Automation Technology

  • Classification Code：

    TP242

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