Repository logo
 

Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study

Date

2003

Authors

Proctor, R. W., author
Balakrishnan, V., author
Maciejewski, Anthony A., author
Goel, M., author
IEEE, publisher

Journal Title

Journal ISSN

Volume Title

Abstract

Teleoperated robots in harsh environments have a significant likelihood of failures. It has been shown in previous work that a common type of failure such as that of a joint "locking up," when unidentified by the robot controller, can cause considerable performance degradation in the local behavior of the manipulator even for simple point-to-point motion tasks. The effects of a failure become more critical for a system with a human in the loop, where unpredictable behavior of the robotic arm can completely disorient the operator. In this experimental study involving teleoperation of a graphically simulated kinematically redundant manipulator, two control schemes, the pseudoinverse and a proposed failure-tolerant inverse, were randomly presented under both nonfailure and failure scenarios to a group of operators. Based on performance measures derived from the recorded trajectory data and operator ratings of task difficulty, it is seen that the failure-tolerant inverse kinematic control scheme improved the performance of the human/robot system.

Description

Rights Access

Subject

manipulators
teleoperation
fault/failure tolerance
kinematically redundant
redundant robots/manipulators
kinematics
locked joint failure

Citation

Associated Publications