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

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dc.contributor.authorGoel, M., author
dc.contributor.authorBalakrishnan, V., author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorProctor, R. W., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T08:09:36Z
dc.date.available2007-01-03T08:09:36Z
dc.date.issued1999
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 non-failure and failure scenarios to a group of operators. Based on performance measures derived from the recorded trajectory data and operator responses, 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.mediumproceedings (reports)
dc.identifier.bibliographicCitationGoel, M., et al., Failure Tolerant Teleoperation of a Kinematically Redundant Manipulator: An Experimental Study, Proceedings: 1999 IEEE International Conference on Robotics and Automation: May 10-15, 1999, Marriott Hotel, Renaissance Center, Detroit, Michigan: 874-880.
dc.identifier.urihttp://hdl.handle.net/10217/67379
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.titleFailure tolerant teleoperation of a kinematically redundant manipulator: an experimental study
dc.typeText

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