Euclidean-space measures of robotic joint failures English, James D. ; Maciejewski, Anthony A. "This work was supported by a NASA graduate student research fellowship (grant number NGT9-2) and by Sandia National Laboratories under contract number AL-3011." Robotic joint failures are directly characterized and measured in joint space. A locking failure, for example, is one for which a joint cannot move, and it gives an error equal to the desired value minus the locked value. This article extends the joint-space characterization to Euclidean space by measuring a failure's effect there. The approach is based on a primitive measure of point error that can be defined to be distance or path length. It is used to form comprehensive measures through weighted integration over Euclidean-space regions. For kinematically redundant manipulators, minimizing the measures can be used to induce failure tolerance by either reducing the likelihood of collision-induced damage before a failure or reducing end-effector error after a failure. Examples for both cases are given. Colorado State University. Libraries 1997 text ; image application/pdf ECEaam00078.pdf FACFECEN100078ARTI eng c1997 IEEE
Euclidean-space measures of robotic joint failures
English, James D. ; Maciejewski, Anthony A.
"This work was supported by a NASA graduate student research fellowship (grant number NGT9-2) and by Sandia National Laboratories under contract number AL-3011."
Robotic joint failures are directly characterized and measured in joint space. A locking failure, for example, is one for which a joint cannot move, and it gives an error equal to the desired value minus the locked value. This article extends the joint-space characterization to Euclidean space by measuring a failure's effect there. The approach is based on a primitive measure of point error that can be defined to be distance or path length. It is used to form comprehensive measures through weighted integration over Euclidean-space regions. For kinematically redundant manipulators, minimizing the measures can be used to induce failure tolerance by either reducing the likelihood of collision-induced damage before a failure or reducing end-effector error after a failure. Examples for both cases are given.
Colorado State University. Libraries
1997
text ; image
application/pdf
ECEaam00078.pdf
FACFECEN100078ARTI
eng
c1997 IEEE