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dc.contributor.authorLi, Zen
dc.contributor.authorLi, Cen
dc.contributor.authorLi, Sen
dc.contributor.authorCao, Xen

© 2005-2012 IEEE. Nowadays, industrial redundant manipulators have been playing important roles in manufacturing fields, such as welding and assembling, by performing repetitive and dull work. Such long-term industrial operations usually require redundant manipulators to keep good working conditions and maintain steadiness of joint actuation. However, some joints of redundant manipulators may fall into fault status after enduring long-period heavy manipulations, causing that the desired industrial tasks cannot be accomplished accurately. In this article, we propose a novel fault-tolerant method with simultaneous fault-diagnose function for motion planning and control of industrial redundant manipulators. The proposed approach is able to adaptively localize which joints run away from the normal state to be fault, and it can guarantee to finish the desired path tracking control even when these fault joints lose their velocity to actuate. Simulation and experiment results on a Kuka LBR iiwa manipulator demonstrate the efficiency of the proposed fault-tolerant method for motion control of the redundant manipulator.

dc.format.extent7469 - 7478en
dc.titleA Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulatoren
dc.typeJournal Article
plymouth.journalIEEE Transactions on Industrial Informaticsen
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA11 Computer Science and Informatics
plymouth.organisational-group/Plymouth/Users by role
plymouth.organisational-group/Plymouth/Users by role/Academics
dc.rights.embargoperiodNot knownen
rioxxterms.typeJournal Article/Reviewen

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