Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures
Date
1998
Authors
Maciejewski, Anthony A., author
English, James D., author
IEEE, publisher
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Abstract
Fault tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This article addresses the issue of tolerating a free-swinging joint failure by focusing on how to best configure a slow-moving manipulator before a failure. Three scalar measures of fault susceptibility are defined using joint torques/forces, accelerations, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are also given. The formulas are valid for general n-link manipulators.
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Rights Access
Subject
kinematically redundant
kinematics
fault/failure tolerance
free-swinging failure
redundant-robots/manipulators
manipulators
robots