Undetected Locked-Joint Failures in Kinematically Redundant
Manipulators: A Workspace Analysis
Undetected Locked-Joint Failures in Kinematically Redundant
Manipulators: A Workspace Analysis
M. Goel, A. A. Maciejewski and V. Balakrishnan
In Proc. Int. Conf. on Intelligent Robots and Systems (IROS), pages 317-322,
Victoria, B.C., October 1998
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. Since a failure may
not always be successfully detected, or even if detected, may not
be detected soon enough, it becomes important to consider the behavior
of manipulators with undetected failures. This work focuses
on developing techniques to analyze a manipulator's workspace and
identify regions in which tasks, characterized by sequences of
point-to-point moves, can be completed even with such
failures. Measures of fault tolerance are formulated to allow for
the evaluation of the workspace.
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