| タイトル | Fault tolerant kinematic control of hyper-redundant manipulators |
| 本文（外部サイト） | http://hdl.handle.net/2060/19950005138 |
| 著者（英） | Bedrossian, Nazareth S. |
| 著者所属（英） | Draper (Charles Stark) Lab., Inc. |
| 発行日 | 1994-03-01 |
| 言語 | eng |
| 内容記述 | Hyper-redundant spatial manipulators possess fault-tolerant features because of their redundant structure. The kinematic control of these manipulators is investigated with special emphasis on fault-tolerant control. The manipulator tasks are viewed in the end-effector space while actuator commands are in joint-space, requiring an inverse kinematic algorithm to generate joint-angle commands from the end-effector ones. The rate-inverse kinematic control algorithm presented in this paper utilizes the pseudoinverse to accommodate for joint motor failures. An optimal scale factor for the robust inverse is derived. |
| NASA分類 | CYBERNETICS |
| レポートNO | 95N11551
AIAA PAPER 94-1295-CP |
| 権利 | Copyright, Distribution as joint owner in the copyright |
