Repository logo
 

Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures

Date

1996

Authors

Maciejewski, Anthony A., author
English, James D., author
IEEE, publisher

Journal Title

Journal ISSN

Volume Title

Abstract

Fault tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This article addresses the issue of tolerating a free-swinging joint failure by focusing on how to best configure a slow-moving manipulator before a failure. Three scalar measures of fault susceptibility are defined using joint torques/forces, acceleration, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are given. The formulas are valid for general n-link manipulators.

Description

Rights Access

Subject

reliability
redundancy
manipulator kinematics

Citation

Associated Publications