MATEC Web of Conferences
Volume 35, 20152015 4th International Conference on Mechanics and Control Engineering (ICMCE 2015)
|Number of page(s)||5|
|Section||Mechanical engineering and control system|
|Published online||16 December 2015|
The optimization of global fault tolerant trajectory for redundant manipulator based on self-motion
School of Automation Beijing University of Posts and Telecommunications Beijing, China
a Corresponding author:: firstname.lastname@example.org
The redundancy feature of manipulators provides the possibility for the fault tolerant trajectory planning. Aiming at the completion of the specific task, an algorithm of global fault tolerant trajectory optimization for redundant manipulator based on the self-motion is proposed in this paper. Firstly, inverse kinematics equation of single redundancy manipulator based on self-motion variable and null-space velocity array of Jacobian are analyzed. Secondly, the mathematical description of fault tolerance criteria of the configuration of manipulator is established and the fault tolerance configuration group of manipulator is obtained by using iteration traversal under the fault tolerance criteria. Then, considering the joint limits and minimum the energy consumption as the optimization target, the global fault tolerant joint trajectory is achieved. Finally, simulation for 7 degree of freedom (DOF) manipulator is performed, by which the effectiveness of the algorithm is validated.
© Owned by the authors, published by EDP Sciences, 2015
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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