Comparison on Inverse-Free Method and Psuedoinverse Method for Fault-Tolerant Planning of Redundant Manipulator

Abstract

Motivated by the importance of fault-tolerant control for robot movement, a fault-tolerant motion planning scheme is proposed to eliminate the joint velocity jump of the redundant manipulator at the time of failure, and enhance the motion stability of the manipulator fault-tolerant operation. The joint velocity jump is eliminated by replacing the degradation scheme at the moment of joint failure, and a neural dynamic method is introduced to eliminate the position error of the end-effector of the manipulator, and the analysis method based on pseudoinverse and inverse-free is used to plan the motion of the manipulator in real time. The simulation results of the redundant manipulator based on the planar four-link indicate that the fault-tolerant scheme can not only realize the manipulator fault-tolerant control without joint velocity jump, but also effectively guarantee the manipulator operation precision.

Keywords

• Redundant manipulator
• fault-tolerant
• joint velocity jump
• pseudoinverse
• inverse-free