Failure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures
نویسندگان
چکیده
منابع مشابه
A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles
This work considers the failure tolerant operation of a kinematically redundant manipulator in an environment containing obstacles. In particular, the article addresses the problem of planning a collision-free path for a manipulator operating in a static environment such that the manipulator can reach its desired goal despite a single locked-joint failure and the presence of obstacles in the en...
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| This work studies the degree to which the kinematic redundancy of a manipulator may be utilized for failure tolerance. A redundant manipulator is considered to be fault tolerant with respect to a given task if it is guaranteed to be capable of performing the task after any one of its joints has failed and is locked in place. A method is developed for determining the necessary constraints whic...
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The high cost involved in the retrieval and repair of robotic manipulators used for remediating nuclear waste, processing hazardous chemicals, or for exploring space or the deep sea, places a premium on the reliability of the system as a whole. For such applications, kinematically redundant manipulators are inherently more reliable since the additional degrees of freedom (DOF) may compensate fo...
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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...
متن کاملReal-time failure-tolerant control of kinematically redundant manipulators
This work considers real-time fault-tolerant control of kinematically redundant manipulators to single locked-joint failures. The fault-tolerance measure used is a worst-case quantity, given by the minimum, over all single joint failures, of the minimum singular value of the post-failure Jacobians. Given any end-effector trajectory, the goal is to continuously follow this trajectory with the ma...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2006
ISSN: 1552-3098
DOI: 10.1109/tro.2006.878959