Numerical and practical experiments of acceleration-level fault-tolerant scheme for redundant manipulator MPaC

Abstract

A fault-tolerant scheme at the acceleration-level for motion planning and control (MPaC) of redundant manipulator is proposed and presented by incorporating the dimension-reduction method and neural-dynamics based quadratic program (QP) including solution. More importantly, numerical and practical experiments based on a six-link planar redundant robot manipulator are presented in this paper to substantiate the physical realizability, efficacy and accuracy of the fault-tolerant scheme for redundant manipulator MPaC and the neural-dynamics based QP.