Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures English, James D. ; Maciejewski, Anthony A. "This work was supported by Sandia National Laboratories under contract number AL-3011 and by a NASA graduate student research fellowship (grant number NGT9-2)." Fault 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, acceleration, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are given. The formulas are valid for general n-link manipulators. Colorado State University. Libraries 1996 text ; image application/pdf ECEaam00076.pdf FACFECEN100076ARTI eng c1996 IEEE
Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures
English, James D. ; Maciejewski, Anthony A.
"This work was supported by Sandia National Laboratories under contract number AL-3011 and by a NASA graduate student research fellowship (grant number NGT9-2)."
Fault 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, acceleration, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are given. The formulas are valid for general n-link manipulators.
Colorado State University. Libraries
1996
text ; image
application/pdf
ECEaam00076.pdf
FACFECEN100076ARTI
eng
c1996 IEEE