Title :
Crippled motion in robots
Author :
Pradeep, A.K. ; Yoder, Paul J. ; Mukundan, Rangaswamy ; Schilling, Robert J.
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
fDate :
1/1/1988 12:00:00 AM
Abstract :
The feasibility of harnessing redundant degrees of freedom in a robotic arm in order to keep it in service, pending repair, after it has lost mobility in one of its joints, is examined. The concept of critical crippling is introduced, and three familiar robots are investigated as case studies. Guidelines on how one might enhance a manipulator´s ability to continue operating productively even with a crippled joint are suggested
Keywords :
control system analysis; industrial robots; maintenance engineering; redundancy; crippled joint; critical crippling; manipulator; mobility; redundant degrees of freedom; repair; robotic arm; Education; Guidelines; Hazardous materials; Investments; Mobile robots; Orbital robotics; Robotic assembly; Service robots; Space stations; Space technology;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
