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Real-time failure-tolerant control of kinematically redundant manipulators

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dc.contributor.authorBalakrishnan, Venkataramanan, author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorGroom, K. N., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T08:09:32Z
dc.date.available2007-01-03T08:09:32Z
dc.date.issued1999
dc.description.abstractThis 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.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationGroom, 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.urihttp://hdl.handle.net/10217/67359
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.subjectmanipulators
dc.subjectrobots
dc.subjectfault/failure tolerance
dc.subjectkinematics
dc.subjectredundant robots/manipulators
dc.subjectkinematically redundant
dc.subjectlocked joint failure
dc.titleReal-time failure-tolerant control of kinematically redundant manipulators
dc.typeText

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