Measuring and reducing the Euclidean-space effects 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 | 2007-01-03T08:09:33Z | |
| dc.date.available | 2007-01-03T08:09:33Z | |
| dc.date.issued | 2000 | |
| 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 rudimentary 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 using the redundancy is a method to induce failure tolerance. This can be applied both before a failure to reduce the likelihood of collision-induced damage and after a failure to reduce end-effector error. Examples for both cases are given. | |
| dc.format.medium | born digital | |
| dc.format.medium | articles | |
| dc.identifier.bibliographicCitation | English, James D. and Anthony A. Maciejewski, Measuring and Reducing the Euclidean-Space Effects of Robotic Joint Failures, IEEE Transactions on Robotics and Automation 16, no. 1 (February 2000): 20-28. | |
| dc.identifier.uri | http://hdl.handle.net/10217/67361 | |
| dc.language | English | |
| dc.language.iso | eng | |
| dc.publisher | Colorado State University. Libraries | |
| dc.relation.ispartof | Faculty Publications | |
| dc.rights | ©2000 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 | locked joint failure | |
| dc.subject | manipulators | |
| dc.subject | robots | |
| dc.subject | fault/failure tolerance | |
| dc.subject | free-swinging joint failure | |
| dc.subject | kinematically redundant | |
| dc.subject | redundant robots/manipulators | |
| dc.subject | kinematics | |
| dc.title | Measuring and reducing the Euclidean-space effects of robotic joint failures | |
| dc.type | Text |
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