Fault tolerant properties of kinematically redundant manipulators
Date
1990
Authors
Maciejewski, Anthony A., author
IEEE, publisher
Journal Title
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Volume Title
Abstract
The dexterity of kinematically redundant manipulators has been quantified and utilized for satisfying a variety of performance criteria. In this work, the degradation of dexterity due to a joint failure is analyzed. A definition of fault tolerance based on a worst-case measure of the remaining dexterity is presented and the properties of optimal fault tolerant configurations are discussed.
Description
Rights Access
Subject
kinematics
robots