Undetected locked-joint failures in kinematically redundant manipulators : a workspace analysis Goel, M. ; Maciejewski, Anthony A. ; Balakrishnan, Venkataramanan "This work was supported by Sandia National Labs under contract no. AL-3011 and by NSF under contract no. MIP-9708309." Robots are frequently used for operations in hostile environments. The very nature of these environments, however, increases the likelihood of robot failures. Common failure tolerance techniques rely on effective failure detection. Since a failure may not always be successfully detected, or even if detected, may not be detected soon enough, it becomes important to consider the behavior of manipulators with undetected failures. This work focuses on developing techniques to analyze a manipulator's workspace and identify regions in which tasks, characterized by sequences of point-to-point moves, can be completed even with such failures. Measures of fault tolerance are formulated to allow for the evaluation of the workspace. Colorado State University. Libraries 1998 text ; image application/pdf ECEaam00083.pdf FACFECEN100083ARTI eng c1998 IEEE
Undetected locked-joint failures in kinematically redundant manipulators : a workspace analysis
Goel, M. ; Maciejewski, Anthony A. ; Balakrishnan, Venkataramanan
"This work was supported by Sandia National Labs under contract no. AL-3011 and by NSF under contract no. MIP-9708309."
Robots are frequently used for operations in hostile environments. The very nature of these environments, however, increases the likelihood of robot failures. Common failure tolerance techniques rely on effective failure detection. Since a failure may not always be successfully detected, or even if detected, may not be detected soon enough, it becomes important to consider the behavior of manipulators with undetected failures. This work focuses on developing techniques to analyze a manipulator's workspace and identify regions in which tasks, characterized by sequences of point-to-point moves, can be completed even with such failures. Measures of fault tolerance are formulated to allow for the evaluation of the workspace.
Colorado State University. Libraries
1998
text ; image
application/pdf
ECEaam00083.pdf
FACFECEN100083ARTI
eng
c1998 IEEE