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Fault tolerant operation of kinematically redundant manipulators for locked joint failures

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dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorLewis, Christopher L., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T08:09:31Z
dc.date.available2007-01-03T08:09:31Z
dc.date.issued1997
dc.description.abstractThis paper studies the degree to which the kinematic redundancy of a manipulator may be utilized for failure tolerance. A redundant manipulator is considered to be fault tolerant with respect to a given task if it is guaranteed to be capable of performing the task after any one of its joints has failed and is locked in place. A method is developed for determining the necessary constraints which insure the failure tolerance of a kinematically redundant manipulator with respect to a given critical task. This method is based on estimating the bounding boxes enclosing the self-motion manifolds for a given set of critical task points. The intersection of these bounding boxes provides a set of artificial joint limits that may guarantee the reachability of the task points after a joint failure. An algorithm for dealing with the special case of 2-D self-motion surfaces is presented. These techniques are illustrated on a PUMA 560 that is used for a 3-D Cartesian positioning task.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationLewis, Christopher L. and Anthony A. Maciejewski, Fault Tolerant Operation of Kinematically Redundant Manipulators for Locked Joint Failures, IEEE Transactions on Robotics and Automation 13, no. 4 (August 1997): 622-629.
dc.identifier.urihttp://hdl.handle.net/10217/67355
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1997 IEEE.
dc.rightsCopyright 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.subjectmanipulator kinematics
dc.subjectkinematically redundant
dc.subjectfault tolerance
dc.subjectmanipulators
dc.subjectredundant systems
dc.subject.lcshJacobian matrices
dc.titleFault tolerant operation of kinematically redundant manipulators for locked joint failures
dc.typeText

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