Fault-tolerant motion planning and control of redundant manipulator

作者：Li, Kene^*; Zhang, Yunong

来源：Control Engineering Practice, 2012, 20(3): 282-292.

DOI：10.1016/j.conengprac.2011.11.004

• Fault tolerance
• Motion planning and control
• LVI-based numerical computing solver
• Quadratic program
• Redundant manipulator

One important issue in the motion planning of a kinematic redundant manipulator is fault tolerance. in general, if the motion planner is fault tolerant, the manipulator can achieve the required path of the end-effector even when its joint fails. In this situation, the contribution of the faulty joint to the end-effector is required to be compensated by the healthy joints to maintain the prescribed end-effector trajectory. To achieve this, this paper proposes a fault-tolerant motion planning scheme by adding a simple fault-tolerant equality constraint for the faulty joint. Such a scheme is then unified into a quadratic program (QP), which incorporates joint-physical constraints such as joint limits and joint-velocity limits. In addition, a numerical computing solver based on linear variational inequalities (LVI) is presented for the real-time QP solving. Simulative studies and experimental results based on a six degrees-of-freedom (DOF) redundant robot manipulator with variable joint-velocity limits substantiate the effectiveness of the proposed fault-tolerant scheme and its solution.

• 出版日期2012-3
• 单位中山大学