Failure Tolerant Robots for Industrial Applications
Failure Tolerant Robots for Industrial Applications
K. N. Groom, A. A. Maciejewski and V. Balakrishnan
In Proc. International Robots and Vision
Conference,
Detroit, MI, May 1997
Abstract: Industrial robot failures occur frequently. The
consequences of these failures include loss of production time and the
possibility of collisions between the robot, workpiece, and personnel
as a result of unanticipated motions of the arm. Improving
manipulator reliability through increased component reliability is
often prohibitively expensive, and is sometimes beyond current
technology. This paper presents an alternate approach toward
improving robot reliability in which kinematically redundant
manipulators, those with more degrees of freedom than necessary for
the production task, are utilized in a failure-tolerant manner to
reduce the immediate impact of a failure and, in many cases, allow the
robot to continue the task without reprogramming.
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