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Fault tolerant motion planning of robotic manipulators based on a nested RRT algorithm

✍ Scribed by Xie, Biyun; Zhao, Jing; Liu, Yu

Book ID
126802667
Publisher
Emerald Group Publishing Limited
Year
2012
Tongue
English
Weight
256 KB
Volume
39
Category
Article
ISSN
0143-991X

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Fault tolerant motion planning of two spatial coordinating manipulators having two possible locked joints respectively is studied. First, the calculation method of fault tolerant workspace with respect to different joints is given, and the centrality index that measures the relative position between