Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures
| dc.contributor.author | Maciejewski, Anthony A., author | |
| dc.contributor.author | English, James D., author | |
| dc.contributor.author | IEEE, publisher | |
| dc.date.accessioned | 2007-01-03T06:17:05Z | |
| dc.date.available | 2007-01-03T06:17:05Z | |
| dc.date.issued | 1996 | |
| dc.description.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. | |
| dc.description.sponsorship | This work was supported by Sandia National Laboratories under contract number AL-3011 and by a NASA graduate student research fellowship (grant number NGT9-2). | |
| dc.format.medium | born digital | |
| dc.format.medium | proceedings (reports) | |
| dc.identifier.bibliographicCitation | English, James D. and Anthony A. Maciejewski, Fault Tolerance for Kinematically Redundant Manipulators: Anticipating Free-Swinging Joint Failures, Proceedings: IEEE International Conference on Robotics and Automation, April 22-28, 1996, Minneapolis, Minnesota: 460-467. | |
| dc.identifier.uri | http://hdl.handle.net/10217/1216 | |
| dc.language | English | |
| dc.language.iso | eng | |
| dc.publisher | Colorado State University. Libraries | |
| dc.relation.ispartof | Faculty Publications | |
| dc.rights | ©1996 IEEE. | |
| dc.rights | Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright. | |
| dc.subject | reliability | |
| dc.subject | redundancy | |
| dc.subject | manipulator kinematics | |
| dc.title | Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures | |
| dc.type | Text |
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