The design of control strategies tolerant to unidentified failures in kinematically redundant manipulators Goel, M. ; Maciejewski, Anthony A. ; Balakrishnan, Venkataramanan "This work was supported in part by Sandia National Laboratories under contract no. AL-3011, the Office of Naval Research under contract no. N00014-97-1-0640, and NSF under contract no. MIP-9708309." The use of robots in hostile environments significantly increases the likelihood of failures in the robot's subsystems. Existing techniques for developing failure tolerant robots rely on effective failure detection and identification. Since failure identification is itself a difficult process that may not always be successful, it is important to consider the behavior of the robot prior to identification of a fault, or even the possibility of failures remaining unidentified. This work proposes control strategies that improve local measures of failure tolerance for kinematically redundant robots experiencing unidentified locked-joint failures. Measures to evaluate the fault tolerance capability of the various schemes are presented and the performance of the proposed schemes are demonstrated with an example. Colorado State University. Libraries 1999 text ; image application/pdf ECEaam00086.pdf FACFECEN100086ARTI eng c1999 IEEE
The design of control strategies tolerant to unidentified failures in kinematically redundant manipulators
Goel, M. ; Maciejewski, Anthony A. ; Balakrishnan, Venkataramanan
"This work was supported in part by Sandia National Laboratories under contract no. AL-3011, the Office of Naval Research under contract no. N00014-97-1-0640, and NSF under contract no. MIP-9708309."
The use of robots in hostile environments significantly increases the likelihood of failures in the robot's subsystems. Existing techniques for developing failure tolerant robots rely on effective failure detection and identification. Since failure identification is itself a difficult process that may not always be successful, it is important to consider the behavior of the robot prior to identification of a fault, or even the possibility of failures remaining unidentified. This work proposes control strategies that improve local measures of failure tolerance for kinematically redundant robots experiencing unidentified locked-joint failures. Measures to evaluate the fault tolerance capability of the various schemes are presented and the performance of the proposed schemes are demonstrated with an example.
Colorado State University. Libraries
1999
text ; image
application/pdf
ECEaam00086.pdf
FACFECEN100086ARTI
eng
c1999 IEEE