The design of control strategies tolerant to undetected failures
in kinematically redundant manipulators
The design of control strategies tolerant to undetected failures
in kinematically redundant manipulators
M. Goel, A. A. Maciejewski and V. Balakrishnan
In Proc. IEEE Int. Conf. on Robotics and Automation,
pages 867-873, Detroit, MI, May 1999
Abstract: The use of robots in hostile environments
significantly increases the likelihood of failures in the robot's
subsystems. Existing techniques for developing failure tolerant
robots rely on effective failure detection and identification. Since
failure identification is itself a difficult pro ess that may not
always be successful, it is important to consider the behavior of the
robot prior to identification of a fault, or even the possibility of
failures remaining unidentified. This work proposes control
strategies that improve local measures of failure tolerance for
kinematically redundant robots experiencing unidentified locked-joint
failures. Measures to evaluate the fault tolerance capability of the
various schemes are presented and the performance of the proposed
schemes are demonstrated with an example.
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