A local measure of fault tolerance for kinematically redundant manipulators
نویسندگان
چکیده
منابع مشابه
A local measure of fault tolerance for kinematically redundant manipulators
When a manipulator suuers a joint failure, its performance can be signiicantly affected. If the failed joint is locked, the resulting manipulator Jacobian is given by the original Jacobian, except that the column associated with the failed joint is removed. The rank of the resulting Jacobian then determines if the manipulator still has the ability to perform arbitrary end-eeector motions. Unfor...
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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, accelerations, and swing angles. Mini...
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The velocity control of kinematically redundant manipulators has been addressed through a variety of approaches. Though they differ widely in their purpose and method of implementation, most are optimizations that can be characterized by Liégeois’s method. This characterization is used in this article to develop a single framework for implementing different methods by simply selecting a scalar,...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1996
ISSN: 1042-296X
DOI: 10.1109/70.508437