Kinematic Design of Optimally Fault Tolerant Robots for Different Joint Failure Probabilities
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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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2018
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2018.2792691