Fault-Tolerant Kinematic Control of Redundant Manipulators With Joint Failures Under Joint Velocity Disturbances

Redundant manipulators play vital roles within the realm of manufacturing in contemporary times, particularly in repetitive and monotonous duties such as welding and assembling. The increased tasks performed within industrial environments require the involvement of redundant manipulators to guarantee ideal working conditions and reliable execution of joint motions. However, due to prolonged and intensive manipulation, certain joints in these redundant manipulators can eventually develop faults at the velocity level, leading to unexpected disruptions in the precise execution of operational tasks. In this brief, a novel approach aimed at enhancing fault tolerance in kinematic control of redundant manipulators with joint failures under joint velocity disturbances is proposed. The proposed method ensures the successful completion of desired path tracking control. Through theoretical analysis and simulative experiments conducted on the redundant manipulator, the efficacy and superiority of the proposed fault-tolerant technique in facilitating kinematic control for redundant manipulators under joint velocity disturbances is demonstrated.