A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it lose one degree of freedom, hence reducing its movement ability. In this paper, the key problems related with the fault-tolerant, including kinematics, workspace and trajectory planning, of a non-redundant space manipulator under single joint failure are handled. Firstly, the analytical inverse kinematics equations are derived for the 5-DOF (degree of freedom) manipulator formed by locking the failure joint of the original 6-DOF manipulator. Then, we define the missions can be completed by the 5-DOF manipulator. According to the constraints of the on-orbital mission, a fault tolerance parameter is defined and a planning method is proposed to generate the reasonable trajectory, based on which, the 5-DOF manipulator can complete the desired tasks. Finally, typical cases are simulated and the simulation results verify the proposed method.


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    Title :

    Fault tolerance kinematics and trajectory planning of a 6-DOF space manipulator under a single joint failure


    Contributors:
    Mu, Zonggao (author) / Zhang, Bing (author) / Xu, Wenfu (author) / Li, Bing (author) / Liang, Bin (author)


    Publication date :

    2016-06-01


    Size :

    461753 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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