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dc.contributor.authorMaciejewski, Anthony A.
dc.contributor.authorEnglish, James D.
dc.date.accessioned2007-01-03T07:26:32Z
dc.date.available2007-01-03T07:26:32Z
dc.date.issued2001
dc.descriptionIncludes bibliographical references.
dc.description.abstractFor a manipulator operating in a hazardous or remote environment, an important concern is its capability after a component failure, since retrieval or repair is not always possible. Methods have been presented in the literature for optimizing capabilities after specific types of failures. However, techniques for achieving failure tolerance when conversion between failure types is possible has not been fully explored. This paper presents an approach to improving postfailure performance by converting between locked-joint failures and free-swinging failures through active braking. When a manipulator is moved slowly, gravitational forces can be used to control the failed joint in free-swinging mode, allowing the problem to be cast as a kinematic one. The validity of the kinematic formulation and its implementation and global consequences are explored.
dc.description.sponsorshipThis work was supported by a NASA graduate student research fellowship (Grant No. NGT9-2) and by Sandia National Laboratories under Contract No. AL-3011.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationEnglish, James D. and Anthony A. Maciejewski, Failure Tolerance through Active Braking: A Kinematic Approach, International Journal of Robotics Research 20, no. 4 (April 2001): 287-299.
dc.identifier.urihttp://hdl.handle.net/10217/627
dc.languageEnglish
dc.publisherColorado State University. Libraries
dc.publisher.originalSage Publications, Inc.
dc.relation.ispartofFaculty Publications - Department of Electrical and Computer Engineering
dc.rights©2001, Sage Publications, Inc.
dc.subjectactive braking
dc.subjectfree-swinging failure
dc.subjectpassive joint
dc.subjectfailure tolerance
dc.subjectunderactuated manipulator
dc.titleFailure tolerance through active braking: a kinematic approach
dc.typeText


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