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Fault tolerant task execution through global trajectory planning
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DOI：10.1016/S0951-8320(96)00050-6.png)
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摘要
En 中文
Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally planning a trajectory that avoids unfavourable joint positions before a failure occurs. In this article, we present a trajectory planning algorithm that guarantees fault tolerance while simultaneously satisfying joint limit and obstacle avoidance requirements. (C) 1996 Elsevier Science Limited.
Keyword:
REDUNDANT MANIPULATORS
OPTIMIZATION
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