Comprehensive characterization method of fault-tolerant kinematics ability for space manipulator with joint locked failure

After the joint locked failure occurs of space manipulator, in order to complete the subsequent operation tasks, the fault-tolerant kinematics ability of the manipulator needs to be accurately characterized. In this paper, aiming at the space manipulator with joint locked failure, the kinematics mod...

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Bibliographic Details
Main Authors: Li, Lanpu, Chen, Gang, Wang, Yifan, Fu, Yingzhuo
Format: Conference Proceeding
Language:English
Subjects:
Aerospace electronics
Entropy
Fault tolerance
Fault tolerant systems
fault-tolerant kinematics ability
Indexes
joint locked failure
Kinematics
Manipulators
space manipulator
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Summary:After the joint locked failure occurs of space manipulator, in order to complete the subsequent operation tasks, the fault-tolerant kinematics ability of the manipulator needs to be accurately characterized. In this paper, aiming at the space manipulator with joint locked failure, the kinematics modeling of the space manipulator is used to analyze the single indexes which can perform the fault-tolerant kinematics ability from the joint space level and operation space level. Then, the comprehensive characterization of fault-tolerant kinematics ability for manipulator with joint locked failure is realized by utilizing the entropy method.
ISSN:2158-2297
DOI:10.1109/ICIEA48937.2020.9248251