针对两协调机械臂在发生锁定关节故障的容错操作中关节速度突变问题进行了研究。

The sudden change of joint velocity in fault tolerant operation of two coordinating manipulators for locked failures is studied.

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最后，在实验平台上进行了实验操作，分别对机器人二关节和三关节在不同时刻出现故障的容错操作进行了实验研究。

At last, experiments are performed on the platform. Experiments for joint two and joint three, which fails and is locked at different time, are performed separately.

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操作体系结构构件表示计算机系统的网络，这些系统支持解决方案的某些性能、可伸缩性和容错等需求。

The operational architecture artifact represents a network of computer systems that support some of the performance, scalability, and fault tolerance (among others) requirements of the solution.

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