Repository logo
 

An analysis of the post-fault behavior of robotic manipulators

Simple item page
dc.contributor.authorBalakrishnan, Venkataramanan, author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorGoel, M., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T06:17:06Z
dc.date.available2007-01-03T06:17:06Z
dc.date.issued1997
dc.description.abstractOperations in hazardous or remote environments are invariably performed by robots. The hostile nature of the environments, however, increase the likelihood of failures for robots used in such applications. The difficulty and delay in the detection and consequent correction of these faults makes the post-fault performance of the robots particularly important. This work investigates the behavior of robots experiencing undetected locked-joint failures in a general class of tasks characterized by point-to-point motion. The robot is considered to have "converged" to a task position and orientation if all its joints come to rest when the end-effector is at that position. It is seen that the post-fault behavior may be classified into three categories: 1) The robot converges to the task position; 2) the robot converges to a position other than the task position; or 3) the robot does not converge, but keeps moving forever. The specific conditions for convergence are identified, and the different behaviors illustrated with examples of simple planar manipulators.
dc.description.sponsorshipThis work was supported by Sandia National Laboratories under contract number AL-3011.
dc.format.mediumborn digital
dc.format.mediumproceedings (reports)
dc.identifier.bibliographicCitationSaitwal, Kishor, Anthony A. Maciejewski, and Rodney G. Roberts, Fast Eigenspace Decomposition of Correlated Images Using Their Low-Resolution Properties, Proceedings of 1997 IEEE International Conference on Robotics and Automation, April 20-25, 1997, Albuquerque, New Mexico: 2583-2588.
dc.identifier.urihttp://hdl.handle.net/10217/1219
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.subjectposition control
dc.subjectvelocity control
dc.subjectconvergence
dc.subjectredundancy
dc.subjectindustrial manipulators
dc.subjectmanipulator kinematics
dc.subject.lcshJacobian matrices
dc.titleAn analysis of the post-fault behavior of robotic manipulators
dc.typeText

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
ECEaam00079.pdf
Size:
643.77 KB
Format:
Adobe Portable Document Format
Description:
Download

Collections

Faculty Publications