|
|||||
|
|
Analyzing unidentified locked-joint failures in kinematically redundant manipulators |
|
| Authors: | Manish Goel Anthony A. Maciejewski Venkataramanan Balakrishnan |
| Affiliation: | 1. School of Electrical and Computer Engineering, Purdue University, West Lafayette, Indiana 47907-1285 Manish Goel, School of Electrical and Computer Engineering, Purdue University, West Lafayette, Indiana 47907-1285 Anthony A. Maciejewski, Electrical and Computer Engineering Department, Colorado State University, Fort Collins, Colorado 80523-1373;2. Electrical and Computer Engineering Department, Colorado State University, Fort Collins, Colorado 80523-1373;3. School of Electrical and Computer Engineering, Purdue University, West Lafayette, Indiana 47907-1285 |
| Abstract: | Robots are frequently used for operations in hostile environments. The very nature of these environments, however, increases the likelihood of robot failures. Common failure-tolerance techniques rely on effective failure detection and identification. Since a failure may not always be successfully identified, or, even if identified, may not be identified soon enough, it becomes important to consider the behavior of manipulators with unidentified failures. This work investigates the behavior of robots experiencing unidentified locked-joint failures in a general class of tasks characterized by point-to-point motion. Based on the analysis, a procedure for workspace evaluation is developed that allows for the identification of regions in the manipulator's workspace in which tasks may be completed even with such failures. © 2005 Wiley Periodicals, Inc. |
| Keywords: | |