Balakrishnan, Venkataramanan, authorMaciejewski, Anthony A., authorGroom, K. N., authorIEEE, publisher2007-01-032007-01-031997Groom, K. N., A. A. Maciejewski, and V. Balakrishnan, Real-Time Failure-Tolerant Control of Kinematically Redundant Manipulators, Proceedings of 1997 IEEE International Conference on Robotics and Automation, April 20-25, 1997, Albuquerque, New Mexico: 2595-2600.http://hdl.handle.net/10217/1220This 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. Real-time implementations are presented for all these techniques, and comparisons show that the performance of the best is indistinguishable from that of brute-force implementations.born digitalproceedings (reports)eng©1997 IEEE.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.real-time systemsposition controlmanipulator kinematicsredundancyreliabilityJacobian matricesText