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Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study

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dc.contributor.authorProctor, R. W., author
dc.contributor.authorBalakrishnan, V., author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorGoel, M., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T08:09:34Z
dc.date.available2007-01-03T08:09:34Z
dc.date.issued2003
dc.description.abstractTeleoperated robots in harsh environments have a significant likelihood of failures. It has been shown in previous work that a common type of failure such as that of a joint "locking up," when unidentified by the robot controller, can cause considerable performance degradation in the local behavior of the manipulator even for simple point-to-point motion tasks. The effects of a failure become more critical for a system with a human in the loop, where unpredictable behavior of the robotic arm can completely disorient the operator. In this experimental study involving teleoperation of a graphically simulated kinematically redundant manipulator, two control schemes, the pseudoinverse and a proposed failure-tolerant inverse, were randomly presented under both nonfailure and failure scenarios to a group of operators. Based on performance measures derived from the recorded trajectory data and operator ratings of task difficulty, it is seen that the failure-tolerant inverse kinematic control scheme improved the performance of the human/robot system.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationGoel, M., et al., Failure Tolerant Teleoperation of a Kinematically Redundant Manipulator: An Experimental Study, IEEE Transactions on Systems, Man, and Cybernetics. Part A, Systems and Humans 33, no. 6 (November 2003): 758-765.
dc.identifier.urihttp://hdl.handle.net/10217/67366
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©2003 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.subjectmanipulators
dc.subjectteleoperation
dc.subjectfault/failure tolerance
dc.subjectkinematically redundant
dc.subjectredundant robots/manipulators
dc.subjectkinematics
dc.subjectlocked joint failure
dc.titleFailure tolerant teleoperation of a kinematically redundant manipulator: an experimental study
dc.typeText

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