Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators
نویسندگان
چکیده
منابع مشابه
Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators
Self-reconfiguration of robotic manipulators under joint failure can be achieved via fault-tolerance strategies. Faulttolerant manipulators are required to continue their endeffector motion with a minimum velocity jump, when failures occur to their joints. Optimal fault tolerance of the manipulators requires a framework that can map the velocity jump of the end-effector to the compensating join...
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We consider here passive mechanical wrists, capable of imparting a desired dumping matrix to a grasped workpiece. Previous work 112. 131 has shown how to select a dumping matrix such that an assembly operatwn can be modc force-guided Thc passive mechanical wrist is to be progmnvnable it can adopt a widc range of damping matrices by virtue of a number of t u d e dampers which inrcrconneet the jo...
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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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ژورنال
عنوان ژورنال: Robotica
سال: 2011
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574711000671