Repository logo
 

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

Simple item page
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorEnglish, James D., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T08:09:32Z
dc.date.available2007-01-03T08:09:32Z
dc.date.issued1998
dc.description.abstractFault 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, accelerations, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are also given. The formulas are valid for general n-link manipulators.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationEnglish, James D. and Anthony A. Maciejewski, Fault Tolerance for Kinematically Redundant Manipulators: Anticipating Free-Swinging Joint Failures, IEEE Transactions on Robotics and Automation 14, no. 4 (August 1998): 566-575.
dc.identifier.urihttp://hdl.handle.net/10217/67358
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1998 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.subjectkinematically redundant
dc.subjectkinematics
dc.subjectfault/failure tolerance
dc.subjectfree-swinging failure
dc.subjectredundant-robots/manipulators
dc.subjectmanipulators
dc.subjectrobots
dc.titleFault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures
dc.typeText

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
ECEaam00030.pdf
Size:
315.5 KB
Format:
Adobe Portable Document Format
Description:
Download

Collections

Faculty Publications