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Identifying the failure-tolerant workspace boundaries of a kinematically redundant manipulator

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dc.contributor.authorRoberts, Rodney G., author
dc.contributor.authorJamisola, Rodrigo S., author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2015-07-28T20:36:12Z
dc.date.available2015-07-28T20:36:12Z
dc.date.issued2007
dc.description.abstractIn addition to possessing a number of other important properties, kinematically redundant manipulators are inherently more tolerant to locked-joint failures than nonredundant manipulators. However, a joint failure can still render a kinematically redundant manipulator useless if the manipulator is poorly designed or controlled. This paper presents a method for identifying a region of the workspace of a redundant manipulator for which task completion is guaranteed in the event of a locked-joint failure. The existence of such a region, called a failure-tolerant workspace, will be guaranteed by imposing a suitable set of artificial joint limits prior to a failure. Conditions are presented that characterize end-effector locations in this region. Based on these conditions, a method is presented that identifies the boundaries of the failure-tolerant workspace. Optimized failure-tolerant workspaces for a three degree-of-freedom planar robot are presented.
dc.format.mediumborn digital
dc.format.mediumproceedings (reports)
dc.identifier.bibliographicCitationRoberts, Rodney G., Rodrigo S. Jamisola, Jr., and Anthony A. Maciegewski, Identifying the Failure-Tolerant Workspace Boundaries of a Kinematically Redundant Manipulator, 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, 10-14 April, 2007: 4517-4523.
dc.identifier.urihttp://hdl.handle.net/10217/1295
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©2007 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.subjectend effectors
dc.subjectfailure analysis
dc.subjectoptimisation
dc.subjectredundant manipulators
dc.titleIdentifying the failure-tolerant workspace boundaries of a kinematically redundant manipulator
dc.typeText

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