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The design of control strategies tolerant to unidentified failures in kinematically redundant manipulators

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dc.contributor.authorBalakrishnan, Venkataramanan, author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorGoel, M., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T04:43:35Z
dc.date.available2007-01-03T04:43:35Z
dc.date.issued1999
dc.description.abstractThe use of robots in hostile environments significantly increases the likelihood of failures in the robot's subsystems. Existing techniques for developing failure tolerant robots rely on effective failure detection and identification. Since failure identification is itself a difficult process that may not always be successful, it is important to consider the behavior of the robot prior to identification of a fault, or even the possibility of failures remaining unidentified. This work proposes control strategies that improve local measures of failure tolerance for kinematically redundant robots experiencing unidentified locked-joint failures. Measures to evaluate the fault tolerance capability of the various schemes are presented and the performance of the proposed schemes are demonstrated with an example.
dc.description.sponsorshipThis work was supported in part by Sandia National Laboratories under contract no. AL-3011, the Office of Naval Research under contract no. N00014-97-1-0640, and NSF under contract no. MIP-9708309.
dc.format.mediumborn digital
dc.format.mediumproceedings (reports)
dc.identifier.bibliographicCitationGoel, M., A. A. Maciejewski, and V. Balakrishnan, The Design of Control Strategies Tolerant to Unidentified Failures in Kinematically Redundant Manipulators, Proceedings: 1999 IEEE International Conference on Robotics and Automation, May 10-15, 1999, Detroit, Michigan: 867-873.
dc.identifier.urihttp://hdl.handle.net/10217/1349
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1999 IEEE.
dc.rightsCopyright 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.subjectoptimisation
dc.subjectredundant manipulators
dc.subjectcontrol system synthesis
dc.subjectfault diagnosis
dc.subjectposition control
dc.subjectfault tolerance
dc.subjectidentification
dc.titleThe design of control strategies tolerant to unidentified failures in kinematically redundant manipulators
dc.typeText

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