Fault-tolerant motion planning and control of redundant manipulator

Control Engineering Practice

Volumn 20, Issue 3, 2012, Pages 282-292

  Li, Kene ^a   Zhang, Yunong ^a  

^a SUN YAT SEN UNIVERSITY   (China)

Author keywords

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

Indexed keywords

END-EFFECTOR TRAJECTORY; EQUALITY CONSTRAINTS; FAULT-TOLERANT; JOINT LIMITS; LINEAR VARIATIONAL INEQUALITIES; MOTION PLANNERS; MOTION PLANNING AND CONTROL; NUMERICAL COMPUTING; PLANNING AND CONTROL; QUADRATIC PROGRAMS; REDUNDANT ROBOT;

FAULT TOLERANCE; MOTION PLANNING; REDUNDANT MANIPULATORS; ROBOT APPLICATIONS; VARIATIONAL TECHNIQUES;

ROBOT PROGRAMMING;

EID: 84856486109     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.conengprac.2011.11.004     Document Type: Article

References (18)

1. Abdi, H., & Nahavandi, S. (2010). Fault tolerance force for redundant manipulators. In Proceedings of the 2nd IEEE international conference on advanced computer control (pp. 612-617). Shenyang, China.
2. Bazaraa M.S., Sherali H.D., Shetty C.M. Nonlinear programming: Theory and algorithms 1993, Wiley, New York.
3. Chen Y., McInroy J.E., Yi Y. Optimal, fault-tolerant mappings to achieve secondary goals without compromising primary performance. IEEE Transactions on Robotics 2003, 19(4):680-691.
4. Hansson A., Servin M. Semi-autonomous shared control of large-scale manipulator arms. Control Engineering Practice 2010, 18(9):1069-1076.
5. He B. A projection and contraction method for a class of linear complementarity problems and its application in convex quadratic programming. Applied Mathematics and Optimization 1992, 25(3):247-262.
6. He B. Solving a class of linear projection equation. Numerische Mathematik 1994, 168:71-80.
7. He B. A new method for a class of linear variational inequalities. Mathematical Programming 1994, 166:137-144.
8. Hu J.-S., Yin D., Hori Y. Fault-tolerant traction control of electric vehicles. Control Engineering Practice 2011, 19(2):204-213.
9. Jiang J. Fault-tolerant control systems-An introductory overview. Acta Automatica Sinica 2005, 31(1):161-174.
10. Paredis C.J.J., Khosla P.K. Fault tolerant task execution through global trajectory planning. Reliability Engineering and System Safety 1996, 53:225-235.
11. Roberts R.G., Yu H.G., Maciejewski A.A. Fundamental limitations on designing optimally fault-tolerant redundant manipulators. IEEE Transactions on Robotics 2008, 24(5):1224-1237.
12. Rossomando F.G., Soria C., Carelli R. Autonomous mobile robots navigation using RBF neural compensator. Control Engineering Practice 2010, 1-8. 10.1016/j.conengprac.2010.11.011.
13. Sciavicco L., Siciliano B. Modelling and control of robot manipulators 2000, Springer-Verlag, London.
14. Wu E.C., Hwang J.C., Chladek J.T. Fault-tolerant joint development for the space shuttle remote manipulator system: Analysis and experiment. IEEE Transactions on Robotics and Automation 1993, 9(5):675-684.
15. Yoon S., Kim S., Bae J., Kim Y., Kim E. Experimental evaluation of fault diagnosis in a skew-configured UAV sensor system. Control Engineering Practice 2011, 19(2):158-173.
16. Zhang, Y. (2002). Analysis and design of recurrent neural networks and their applications to control and robotic systems. Ph.D. Thesis. Chinese University of Hong Kong.
17. Zhang, Y. (2005). On the LVI-based primal-dual neural network for solving online linear and quadratic programming problems. In Proceedings of American control conference (pp. 1351-1356). Portland, OR, USA.
18. Zhang Y., Wang J. A dual neural network for constrained joint torque optimization of kinematically redundant manipulators. IEEE Transactions on Systems, Man, and Cybernetics, Part B 2002, 32(5):654-662.