Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures
Date
1996
Authors
Maciejewski, Anthony A., author
English, James D., author
IEEE, publisher
Journal Title
Journal ISSN
Volume Title
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, acceleration, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are given. The formulas are valid for general n-link manipulators.
Description
Rights Access
Subject
reliability
redundancy
manipulator kinematics