Efficient space manipulator joint parameter jump inhibition approach considering the abrupt failure

The paper puts forward a method to compensate the motion parameter jump, especially velocity jump of space manipulator end-effector and joints which is caused by abrupt single joint failure. After the occurrence of joint failure, zero velocity jump of end effector is achieved by Jacobian matrix perturbation method. Meanwhile, according to the specialty of redundant manipulator, the joints velocity null space item based on kinematic manipulability gradient is established to inhibit joints velocity jump. However, it is difficult to choose the optimal compensation coefficient on occurrence of unexpected joint failure, so we figure out the relationship between compensation coefficient and joints velocity inhibition efficiency at typical failure moments during the entire task cycle, thus the coefficient ranges which can restrain the velocity jump efficiently in several typical moments are acquired. Thereafter, the global efficient compensation coefficient range is generated by intersecting the above coefficient ranges, which can be applied in abrupt failure. Finally, numerical simulation is carried out to demonstrate that the proposed approach is valid and practical.