Real-time failure-tolerant control of kinematically redundant manipulators
dc.contributor.author | Balakrishnan, Venkataramanan, author | |
dc.contributor.author | Maciejewski, Anthony A., author | |
dc.contributor.author | Groom, K. N., author | |
dc.contributor.author | IEEE, publisher | |
dc.date.accessioned | 2007-01-03T08:09:32Z | |
dc.date.available | 2007-01-03T08:09:32Z | |
dc.date.issued | 1999 | |
dc.description.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. | |
dc.format.medium | born digital | |
dc.format.medium | articles | |
dc.identifier.bibliographicCitation | Groom, Kenneth N., Anthony A. Maciejewski, and Venkataramanan Balakrishnan, Real-Time Failure-Tolerant Control of Kinematically Redundant Manipulators, IEEE Transactions on Robotics and Automation 15, no. 6 (December 1999): 1109-1116. | |
dc.identifier.uri | http://hdl.handle.net/10217/67359 | |
dc.language | English | |
dc.language.iso | eng | |
dc.publisher | Colorado State University. Libraries | |
dc.relation.ispartof | Faculty Publications | |
dc.rights | ©1999 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 | manipulators | |
dc.subject | robots | |
dc.subject | fault/failure tolerance | |
dc.subject | kinematics | |
dc.subject | redundant robots/manipulators | |
dc.subject | kinematically redundant | |
dc.subject | locked joint failure | |
dc.title | Real-time failure-tolerant control of kinematically redundant manipulators | |
dc.type | Text |
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