Real-time failure-tolerant control of kinematically redundant manipulators
Date
1999
Authors
Balakrishnan, Venkataramanan, author
Maciejewski, Anthony A., author
Groom, K. N., author
IEEE, publisher
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Abstract
This work considers real-time fault-tolerant control of kinematically redundant manipulators to single locked-joint failures. The fault-tolerance measure used is a worst-case quantity, given by the minimum, over all single joint failures, of the minimum singular value of the post-failure Jacobians. Given any end-effector trajectory, the goal is to continuously follow this trajectory with the manipulator in configurations that maximize the fault-tolerance measure. The computation required to track these optimal configurations with brute-force methods is prohibitive for real-time implementation. We address this issue by presenting algorithms that quickly compute estimates of the worst-case fault-tolerance measure and its gradient. Comparisons show that the performance of the best method is indistinguishable from that of brute-force implementations. An example demonstrating the real-time performance of the algorithm on a commercially available seven degree-of-freedom manipulator is presented.
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Subject
manipulators
robots
fault/failure tolerance
kinematics
redundant robots/manipulators
kinematically redundant
locked joint failure