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ZHAO Jing, YAO Yan-bin, FENG Deng-dian, WEI Shan-shan. Influence Factors on Sudden-change of Joint Relative Velocity in Fault-tolerant Operation for Redundant Robot[J]. Journal of Beijing University of Technology, 2007, 33(12): 1239-1245.
Citation: ZHAO Jing, YAO Yan-bin, FENG Deng-dian, WEI Shan-shan. Influence Factors on Sudden-change of Joint Relative Velocity in Fault-tolerant Operation for Redundant Robot[J]. Journal of Beijing University of Technology, 2007, 33(12): 1239-1245.
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Influence Factors on Sudden-change of Joint Relative Velocity in Fault-tolerant Operation for Redundant Robot

  • College of Mechanical Engineering and Electronics Technology, Beijing University of Technology, Beijing 100022, China

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  • Received Date: November 05, 2006
  • Available Online: December 29, 2022
    Graphical Abstract
    • Abstract
  • To reduce the sudden-change of joint relative velocity by using the reduced condition number as the fault tolerant index when the robot's fault joint is locked.Simulation of a planar 3R and a spatial 4R robots are conducted to analyse and research the main factors that influence the Relative Joint Sudden-Change. Research results show that the fault tolerant indexes,the location of the end-effector,the velocity of the end- effector,the initial joint angle and the end-effector trajectory influence the Relative Joint Sudden-Change. Finally,methods that reduce the sudden-change of joint relative velocity are proposed.
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    • References (8)
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