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Undetected locked-joint failures in kinematically redundant manipulators: a workspace analysis

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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.accessioned2007-01-03T06:17:08Z
dc.date.available2007-01-03T06:17:08Z
dc.date.issued1998
dc.description.abstractRobots 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. Since a failure may not always be successfully detected, or even if detected, may not be detected soon enough, it becomes important to consider the behavior of manipulators with undetected failures. This work focuses on developing techniques to analyze a manipulator's workspace and identify regions in which tasks, characterized by sequences of point-to-point moves, can be completed even with such failures. Measures of fault tolerance are formulated to allow for the evaluation of the workspace.
dc.description.sponsorshipThis work was supported by Sandia National Labs under contract no. AL-3011 and by NSF under contract no. MIP-9708309.
dc.format.mediumborn digital
dc.format.mediumproceedings (reports)
dc.identifier.bibliographicCitationGoel, M., A. A. Maciejewski, and V. Balakrishnan, Undetected Locked-Joint Failures in Kinematically Redundant Manipulators: A Workspace Analysis, 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems: Proceedings, Innovatiions in Theory, Practice, and Applications, October 13-17, 1998, Victoria, B.C., Canada: 317-322.
dc.identifier.urihttp://hdl.handle.net/10217/1222
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1998 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.subjectredundant manipulators
dc.subjectposition control
dc.subjectfault tolerance
dc.subject.lcshJacobian matrices
dc.titleUndetected locked-joint failures in kinematically redundant manipulators: a workspace analysis
dc.typeText

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