KINEMATIC DESIGN OF FAULT-TOLERANT MANIPULATORS

被引：38

作者：

PAREDIS, CJJ

AU, WKF

KHOSLA, PK

机构：

[1] CARNEGIE MELLON UNIV,INST ROBOT,PITTSBURGH,PA 15213

[2] CARNEGIE MELLON UNIV,DEPT ELECT & COMP ENGN,PITTSBURGH,PA 15213

来源：

COMPUTERS & ELECTRICAL ENGINEERING | 1994年 / 20卷 / 03期

关键词：

ROBOT KINEMATICS; SERIAL LINK MANIPULATORS; FAULT TOLERANCE; MANIPULATOR DESIGN; TASK BASED DESIGN; PENALTY FUNCTION; GLOBAL OPTIMIZATION; SIMULATED ANNEALING; NUMERICAL INVERSE KINEMATICS;

D O I：

10.1016/0045-7906(94)90016-7

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper defines the property of kinematic fault tolerance and develops a general constructive proof of the existence of fault tolerant manipulators. After formulating the necessary and sufficient condition for fault tolerance, a planar manipulator with a minimal kinematic structure is designed. A generalization to spatial manipulators, using a numerical approach is formulated. Finally, it is shown how this approach enables us to solve the spatial design problem.

引用

页码：211 / 220

页数：10

共 13 条

[1] HYBRID METHODS FOR NONLINEAR LEAST-SQUARES [J].