Comparison on Inverse-Free Method and Psuedoinverse Method for Fault-Tolerant Planning of Redundant Manipulator
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 jo...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9208698/ |