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Kinematic design of fault tolerant manipulators
- Source :
- Computers & Electrical Engineering. 20:211-220
- Publication Year :
- 1994
- Publisher :
- Elsevier BV, 1994.
-
Abstract
- 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.
- Subjects :
- Robot kinematics
Engineering
General Computer Science
Constructive proof
Generalization
business.industry
Fault tolerance
Kinematics
Computer Science::Robotics
Control and Systems Engineering
Control theory
Simulated annealing
Penalty method
Electrical and Electronic Engineering
business
Global optimization
Subjects
Details
- ISSN :
- 00457906
- Volume :
- 20
- Database :
- OpenAIRE
- Journal :
- Computers & Electrical Engineering
- Accession number :
- edsair.doi...........541469e8443b43f26ec5e727f25ce79c
- Full Text :
- https://doi.org/10.1016/0045-7906(94)90016-7