Identifying the failure-tolerant workspace boundaries of a kinematically redundant manipulator

Rodney G. Roberts, Rodrigo S. Jamisola, Anthony A. Maciejewski

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

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 languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages4517-4523
Number of pages7
DOIs
Publication statusPublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Roberts, R. G., Jamisola, R. S., & Maciejewski, A. A. (2007). Identifying the failure-tolerant workspace boundaries of a kinematically redundant manipulator. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 4517-4523). [4209793] https://doi.org/10.1109/ROBOT.2007.364175