Title :
Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures
Author :
English, James D. ; Maciejewski, Anthony A.
Author_Institution :
Dept. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
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, acceleration, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are given. The formulas are valid for general n-link manipulators
Keywords :
manipulator kinematics; redundancy; reliability; acceleration; fault susceptibility; fault tolerance; free-swinging joint failures; hazardous environments; joint forces; joint torques; kinematically redundant manipulators; multilink manipulators; remote environments; slow-moving manipulator configuration; swing angles; Acceleration; Buildings; Fault tolerance; Fault tolerant systems; Force measurement; Hydraulic actuators; Kinematics; Manipulators; Robots; Torque;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503819
