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    Measuring and reducing the Euclidean-space effects of robotic joint failures

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    http://hdl.handle.net/10217/67361
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    Abstract
    Robotic joint failures are directly characterized and measured in joint space. A locking failure, for example, is one for which a joint cannot move, and it gives an error equal to the desired value minus the locked value. This article extends the joint-space characterization to Euclidean space by measuring a failure's effect there. The approach is based on a rudimentary measure of point error that can be defined to be distance or path length. It is used to form comprehensive measures through weighted integration over Euclidean-space regions. For kinematically redundant manipulators, minimizing ...
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    Author(s)
    English, James D., author; Maciejewski, Anthony A., author; IEEE, publisher

    Date Issued
    2000
    Format
    born digital; articles
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