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Fault tolerant kinematic control of hyper-redundant manipulators
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Bedrossian, Nazareth S. |
| Copyright Year | 1994 |
| Description | Hyper-redundant spatial manipulators possess fault-tolerant features because of their redundant structure. The kinematic control of these manipulators is investigated with special emphasis on fault-tolerant control. The manipulator tasks are viewed in the end-effector space while actuator commands are in joint-space, requiring an inverse kinematic algorithm to generate joint-angle commands from the end-effector ones. The rate-inverse kinematic control algorithm presented in this paper utilizes the pseudoinverse to accommodate for joint motor failures. An optimal scale factor for the robust inverse is derived. |
| File Size | 2021627 |
| Page Count | 7 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19950005138 |
| Archival Resource Key | ark:/13960/t6tx8824c |
| Language | English |
| Publisher Date | 1994-03-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Actuators Fault Tolerance Algorithms Inverse Kinematics Kinematics Redundant Components Manipulators End Effectors Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
