Failure Tolerant Teleoperation of a Kinematically Redundant Manipulator: An Experimental Study

Teleoperated robots in harsh environments have a significant likelihood of failures. It has been shown in previous work that a common type of failure such as that of a joint "locking up", when unidentified by the robot controller, can cause considerable performance degradation in the local behavior of the manipulator even for simple point-to-point motion tasks. The effects of a failure become more critical for a system with a human in the loop, where unpredictable behavior of the robotic arm can completely disorient the operator. In this experimental study involving teleoperation of a graphically simulated kinematically redundant manipulator, two control schemes, the pseudoinverse and a proposed failure-tolerant inverse, were randomly presented under both non-failure and failure scenarios to a group of operators. Based on performance measures derived from the recorded trajectory data and operator ratings of task difficulty, it is seen that the failure-tolerant inverse kinema...

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Manish Goel, Anthony A. Maciejewski, Venkataramanan Balakrishnan, R. W. Proctor
• Keywords: Considerable Performance Degradation, Control Scheme, Failure-tolerant Inverse, ICRA 1999, Robotics