Title :
Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures
Author :
English, James D. ; Maciejewski, Anthony A.
Author_Institution :
Raytheon Syst. Co., Tucson, AZ, USA
fDate :
8/1/1998 12:00:00 AM
Abstract :
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. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are also given. The formulas are valid for general n-link manipulators
Keywords :
failure analysis; manipulator kinematics; minimisation; probability; redundancy; fault susceptibility; fault tolerance; free-swinging failure; gradients; joint failure; kinematic redundancy; minimisation; probability; redundant manipulators; Acceleration; Fault tolerance; Fault tolerant systems; Force measurement; Goniometers; Kinematics; Manipulators; Redundancy; Robots; Torque measurement;
Journal_Title :
Robotics and Automation, IEEE Transactions on
