Fault tolerance kinematics and trajectory planning of a 6-DOF space manipulator under a single joint failure.
Zonggao MuBing ZhangWenfu XuBing LiBin LiangPublished in: RCAR (2016)
Keyphrases
- fault tolerance
- trajectory planning
- robot manipulators
- end effector
- motion planning
- inverse kinematics
- fault tolerant
- path planning
- degrees of freedom
- joint angles
- failure recovery
- component failures
- load balancing
- distributed systems
- response time
- distributed computing
- robotic arm
- database replication
- parallel manipulator
- peer to peer
- obstacle avoidance
- robot arm
- dynamic environments
- kinematic model
- pose estimation
- node failures
- dynamic model
- robotic manipulator
- mobile agents
- control scheme
- single point of failure
- humanoid robot
- fault management
- human body
- intelligent agents
- control algorithm
- multi robot