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- W3111987127 abstract "When a redundant manipulator suffers a joint failure, the flexibility of the manipulator operation will be affected, which will result in the failure of the task execution. In order to make the manipulator have more fault-tolerant performance, joint configuration optimization of manipulator at faulty time based on manipulability maximization is proposed. In this paper, the manipulability is used as the fault-tolerant performance index of the manipulator. By constructing the equation between manipulability and joint angles, the optimal joint angle is finally obtained at faulty time, making the manipulator manipulability to be maximized." @default.
- W3111987127 created "2020-12-21" @default.
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- W3111987127 date "2020-11-20" @default.
- W3111987127 modified "2023-10-16" @default.
- W3111987127 title "Joint Configuration Optimization of Manipulator at Faulty Time Based on Manipulability Maximization" @default.
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- W3111987127 doi "https://doi.org/10.1109/ddcls49620.2020.9275158" @default.
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