Failure treatment strategy and fault-tolerant path planning of a space manipulator with free-swinging joint failure
نویسندگان
چکیده
منابع مشابه
Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure
A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it to lose one degree of freedom (DOF), hence reducing its movement ability. In this paper, the key problems related to the fault-tolerant including...
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A robotic manipulator can fail in many diierent ways, and its capabilities after a failure are a major concern, especially for manipulators used in hazardous and remote environments, where the cost of repair or replacement is high. This article presents a study of the workspaces of robotic arms after a free-swinging failure, deened as a hardware or software failure that prevents the application...
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This paper presents an algorithm which extends the rapidly-exploring random tree (RRT) framework to deal with change of the task environments. This algorithm called the Retrieval RRT Strategy (RRS) combines a support vector machine (SVM) and RRT and plans the robot motion in the presence of the change of the surrounding environment. This algorithm consists of two levels. At the first level, the...
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ژورنال
عنوان ژورنال: Chinese Journal of Aeronautics
سال: 2018
ISSN: 1000-9361
DOI: 10.1016/j.cja.2018.04.008