Numerical and Practical Experiments of Acceleration-Level Fault-Tolerant Scheme for Redundant Manipulator MPaC
- Resource Type
- Conference
- Authors
- Huihui Gong; Ziyu Yin; Dechao Chen; Long Jin; Yunong Zhang
- Source
- 제어로봇시스템학회 국제학술대회 논문집. 2017-10 2017(10):915-920
- Subject
- Fault tolerance
redundant manipulator
motion planning and control (MPaC)
quadratic program (QP)
numerical experiments
practical experiments
- Language
- Korean
- ISSN
- 2005-4750
A fault-tolerant scheme at the acceleration-level for motion planning and control (MPaC) of redundant manipulator is proposed and presented by incorporating the dimension-reduction method and neural-dynamics based quadratic program (QP) including solution. More importantly, numerical and practical experiments based on a six-link planar redundant robot manipulator are presented in this paper to substantiate the physical realizability, efficacy and accuracy of the fault-tolerant scheme for redundant manipulator MPaC and the neural-dynamics based QP.