Optimization of failure-tolerant workspaces for redundant manipulators

• 主要作者: Jamisola, Rodrigo S., Jr.
• 格式: text
• 出版: Animo Repository 2010
• 主題: Manipulators (Mechanism); Fault tolerance (Engineering); Robotics
• 在線閱讀: https://animorepository.dlsu.edu.ph/faculty_research/7120
• 機構: De La Salle University

For a redundant manipulator a region in its workspace that is guaranteed failure tolerant, called the failure-tolerant workspace, promises completion of critical tasks placed within it. By judiciously choosing a set of artificial joint limits which constrain the acceptable robot configurations prior...