Euclidean-space measures of robotic joint failures
| dc.contributor.author | English, James D., author | |
| dc.contributor.author | Maciejewski, Anthony A., author | |
| dc.contributor.author | IEEE, publisher | |
| dc.date.accessioned | 2007-01-03T06:17:06Z | |
| dc.date.available | 2007-01-03T06:17:06Z | |
| dc.date.issued | 1997 | |
| dc.description.abstract | Robotic joint failures are directly characterized and measured in joint space. A locking failure, for example, is one for which a joint cannot move, and it gives an error equal to the desired value minus the locked value. This article extends the joint-space characterization to Euclidean space by measuring a failure's effect there. The approach is based on a primitive measure of point error that can be defined to be distance or path length. It is used to form comprehensive measures through weighted integration over Euclidean-space regions. For kinematically redundant manipulators, minimizing the measures can be used to induce failure tolerance by either reducing the likelihood of collision-induced damage before a failure or reducing end-effector error after a failure. Examples for both cases are given. | |
| dc.description.sponsorship | This work was supported by a NASA graduate student research fellowship (grant number NGT9-2) and by Sandia National Laboratories under contract number AL-3011. | |
| dc.format.medium | born digital | |
| dc.format.medium | proceedings (reports) | |
| dc.identifier.bibliographicCitation | English, James D. and Anthony A. Maciejewski, Euclidean-Space Measures of Robotic Joint Failures, Proceedings of 1997 IEEE International Conference on Robotics and Automation, April 20-25, 1997, Albuquerque, New Mexico: 2894-2901. | |
| dc.identifier.uri | http://hdl.handle.net/10217/1218 | |
| dc.language | English | |
| dc.language.iso | eng | |
| dc.publisher | Colorado State University. Libraries | |
| dc.relation.ispartof | Faculty Publications | |
| dc.rights | ©1997 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 | redundancy | |
| dc.subject | manipulator kinematics | |
| dc.title | Euclidean-space measures of robotic joint failures | |
| dc.type | Text |
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