Abstract
In addition to possessing a number of other important properties, kinematically redundant manipulators are inherently more tolerant to locked-joint failures than nonredundant manipulators. However, a joint failure can still render a kinematically redundant manipulator useless if the manipulator is poorly designed or controlled. This paper presents a method for identifying a region of the workspace of a redundant manipulator for which task completion is guaranteed in the event of a locked-joint failure. The existence of such a region, called a failure-tolerant workspace, will be guaranteed by imposing a suitable set of artificial joint limits prior to a failure. Conditions are presented that characterize end-effector locations in this region. Based on these conditions, a method is presented that identifies the boundaries of the failure-tolerant workspace. Optimized failure-tolerant workspaces for a three degree-of-freedom planar robot are presented.
| Original language | English |
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| Title of host publication | 2007 IEEE International Conference on Robotics and Automation, ICRA'07 |
| Pages | 4517-4523 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - Nov 27 2007 |
| Event | 2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007 |
Other
| Other | 2007 IEEE International Conference on Robotics and Automation, ICRA'07 |
|---|---|
| Country/Territory | Italy |
| City | Rome |
| Period | 4/10/07 → 4/14/07 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Artificial Intelligence
- Electrical and Electronic Engineering