DocumentCode
1406790
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
Volume
14
Issue
4
fYear
1998
fDate
8/1/1998 12:00:00 AM
Firstpage
566
Lastpage
575
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;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.704223
Filename
704223
Link To Document