Balakrishnan, Venkataramanan, authorMaciejewski, Anthony A., authorGroom, K. N., authorIEEE, publisher2007-01-032007-01-031999Groom, 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.http://hdl.handle.net/10217/67359This 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.born digitalarticleseng©1999 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.manipulatorsrobotsfault/failure tolerancekinematicsredundant robots/manipulatorskinematically redundantlocked joint failureText