Research on fault-tolerant control of dynamically redundant manipulators

This paper is focused on the fault-tolerant control of dynamically redundant manipulators. Through optimizing the ellipsoidal sphere of joint torque, the dynamic fault-tolerant ability will be improved because the product of the principal axis length of the sphere can be increased. Based on this method, a joint torque redistribution algorithm for online fault-tolerant control of dynamically redundant manipulators has been presented. In order to reduce the error of trajectory tracing, the effects of PID and SMC control laws have also been compared. The effectiveness of the proposed algorithms has been demonstrated by simulation.