Failure recovery in redundant serial manipulators using nonlinear programming

This paper presents a simulation and analysis of partial failure recovery using nonlinear programming techniques. Previous techniques have shown partial failure recoveries that were limited by their use of a single criterion. The technique shown here maintains the torque constraints imposed by the failure while minimizing additional performance criteria. One advantage of this technique is that it allows the robot to avoid parametric and mathematical limits by means of imposing additional performance criteria.