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Undetected locked-joint failures in kinematically redundant manipulators: a workspace analysis

Date

1998

Authors

Balakrishnan, Venkataramanan, author
Maciejewski, Anthony A., author
Goel, M., author
IEEE, publisher

Journal Title

Journal ISSN

Volume Title

Abstract

Robots are frequently used for operations in hostile environments. The very nature of these environments, however, increases the likelihood of robot failures. Common failure tolerance techniques rely on effective failure detection. Since a failure may not always be successfully detected, or even if detected, may not be detected soon enough, it becomes important to consider the behavior of manipulators with undetected failures. This work focuses on developing techniques to analyze a manipulator's workspace and identify regions in which tasks, characterized by sequences of point-to-point moves, can be completed even with such failures. Measures of fault tolerance are formulated to allow for the evaluation of the workspace.

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Subject

redundant manipulators
Jacobian matrices
position control
fault tolerance

Citation

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