| Autor: |
Jiawei Luo, Kene Li, Hui Yang, Jin Yang |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
IEEE Access, Vol 8, Pp 178796-178804 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2020.3027512 |
| Popis: |
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 manipulator at the time of failure, and enhance the motion stability of the manipulator fault-tolerant operation. The joint velocity jump is eliminated by replacing the degradation scheme at the moment of joint failure, and a neural dynamic method is introduced to eliminate the position error of the end-effector of the manipulator, and the analysis method based on pseudoinverse and inverse-free is used to plan the motion of the manipulator in real time. The simulation results of the redundant manipulator based on the planar four-link indicate that the fault-tolerant scheme can not only realize the manipulator fault-tolerant control without joint velocity jump, but also effectively guarantee the manipulator operation precision. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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