Articles | Volume 14, issue 2
https://doi.org/10.5194/ms-14-399-2023
https://doi.org/10.5194/ms-14-399-2023
Research article
 | 
06 Oct 2023
Research article |  | 06 Oct 2023

Optimal resource allocation method and fault-tolerant control for redundant robots

Yu Rong, Tianci Dou, and Xingchao Zhang

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Short summary
Resource coordination and allocation strategies are proposed to reduce the probability of failure by aiming at the problem that the robot cannot continue to work after joint failure. Taking the planar 4R redundant robot as an example, the algorithm control is compared. Based on reasonable modeling and physical verification, the results show that the method of optimal resource coordination and allocation is effective.