Analyzing unidentified locked-joint failures in kinematically redundant manipulators
Date
2005
Authors
Balakrishnan, Venkataramanan, author
Maciejewski, Anthony A., author
Goel, Manish, author
Wiley Periodicals, Inc., publisher
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Abstract
Robots are frequently used for operations in hostile environments. The very nature of these environments, however, increases the likelihood of robot failures. Common failure tolerance techniques rely on effective failure detection and identification. Since a failure may not always be successfully identified, or, even if identified, may not be identified soon enough, it becomes important to consider the behavior of manipulators with unidentified failures. This work investigates the behavior of robots experiencing unidentified locked-joint failures in a general class of tasks characterized by point-to-point motion. Based on the analysis, a procedure for workspace evaluation is developed that allows for the identification of regions in the manipulator's workspace in which tasks may be completed even with such failures.
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Subject
robotic systems
matrices
spatial conservative congruence transformation
geometrical analysis
stiffness