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Research Papers: Mechanisms and Robotics

On the Joint Velocity Jump for Redundant Robots in the Presence of Locked-Joint Failures

[+] Author and Article Information
Zhao Jing

The College of Mechanical Engineering & Applied Electronics Technology, Beijing Polytechnic University, Beijing 100022, P.R.C.zhaojing@bjut.edu.cn

Li Qian

The College of Mechanical Engineering & Applied Electronics Technology, Beijing Polytechnic University, Beijing 100022, P.R.C.leeqian020112@yahoo.com

J. Mech. Des 130(10), 102305 (Sep 09, 2008) (7 pages) doi:10.1115/1.2943302 History: Received June 28, 2007; Revised January 30, 2008; Published September 09, 2008

The joint velocity jump for redundant robots in the presence of locked-joint failures is discussed in this paper. First, the analytical formula of the optimal joint velocity with minimum jump is derived, and its specific expressions for both all joint failure and certain single joint failure are presented. Then, the jump difference between the minimum jump solution and the least-norm velocity solution is mathematically analyzed, and the influence factors on this difference are also discussed. Based on this formula, a new fault tolerant algorithm with the minimum jump is proposed. Finally, simulation examples are implemented with a planar 3R robot and a 4R spatial robot, and an experimental study is also done. Study results indicate that the new algorithm proposed in this paper is well suited for real time implementation, and can further reduce the joint velocity jump thereby improving the motion stability of redundant robots in fault tolerant operations. Also, the fewer the possible failed joints are, the more obvious the effect of this new algorithm becomes.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 3

Joint configurations

Grahic Jump Location
Figure 4

Fault tolerant indices when X=[0.4,0]Tm

Grahic Jump Location
Figure 5

Fault tolerant indices when X=[0.35,0]Tm

Grahic Jump Location
Figure 6

Joint configurations

Grahic Jump Location
Figure 7

Fault tolerant indices when X=[0.35,0]Tm

Grahic Jump Location
Figure 8

Joint configurations

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Figure 9

A PUMA spatial 4R robot

Grahic Jump Location
Figure 10

Fault tolerant indexes when X=[0.09,0.21,0.27]Tm

Grahic Jump Location
Figure 11

Fault tolerant indices when X=[−0.21,0.2,0.35]Tm

Grahic Jump Location
Figure 12

Power-cube planar 3R robot

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Figure 13

The path of the robot’s end effector

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Figure 14

The path errors of the robot’s end effector

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Figure 2

Fault tolerant indexes when X=[0.35,0]Tm

Grahic Jump Location
Figure 1

A planar 3R robot

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