Fault-Tolerant Path Planning of the Space Manipulator with Single Joint Failure Based on the Dexterity Space

To enable the space manipulator to complete the original task efficiently after any single joint fails, a fault-tolerant path planning method for the manipulator with single joint failure is proposed based on dexterity space in this paper. On the base of solving the degraded workspace, the dexterity...

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Bibliographic Details
Main Authors: Tan, Jia-Yi, Chen, Gang, Wang, Yu-Qi
Format: Conference Proceeding
Language:English
Subjects:
Algorithms
Computer simulation
Failure
Fault tolerance
Path planning
Product design
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Summary:To enable the space manipulator to complete the original task efficiently after any single joint fails, a fault-tolerant path planning method for the manipulator with single joint failure is proposed based on dexterity space in this paper. On the base of solving the degraded workspace, the dexterity space of the manipulator with single joint failure is established by constructing the dexterity index, and then the traditional A* algorithm is improved to complete fault-tolerant path planning in the dexterity space. The correctness and validity of fault-tolerant path planning based on improved A* algorithm are verified by simulating experiments with 7R manipulator.
ISSN:2261-236X
2274-7214
2261-236X
DOI:10.1051/matecconf/201816005010