Abstract: A rather deep investigation into the kinematic and dynamic fault-tolerant control of redundant robots is presented. Starting from the thought of fault-tolerant control of redundant robots being one of the concrete application of their redundant properties, we take the self-motion parameters for state variables to simplify the fault-tolerant control system. Based on self-motion controlling, several new schemes are proposed to realize the fault-tolerant control of redundant robots. The simulation results illustrate the simplicity and effectiveness of the above fault-tolerant control methods.

Key words: Fault-tolerant control, Redundant robots