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ICRA
1999
IEEE

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

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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...
Manish Goel, Anthony A. Maciejewski, Venkataramana
Added 03 Aug 2010
Updated 03 Aug 2010
Type Conference
Year 1999
Where ICRA
Authors Manish Goel, Anthony A. Maciejewski, Venkataramanan Balakrishnan, R. W. Proctor
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