Fault-tolerant control and optimal operation of redundant robotic manipulators

The transformations between the (Cartesian) p-space, the (joint) q-space of a manipulator and a (reduced dimensional) μ-space are first presented. On the basis of the reduced order model in the μ-space, a low-dimensional torque control is determined. For implementation, it is transformed into the q-space while constraints are taken into account. It is then demonstrated that the foregoing transformation can be determined so that a well-defined performance criterion is optimized. The proposed approaches are illustrated by simulations