Fault tolerant motion planning of two coordinating manipulators for locked joint failures is studied.

针对两机械臂协调操作中发生关节坏死这类故障时的容错运动规划问题进行研究。

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

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。

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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.

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。

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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.

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。

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