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ICRA
2007
IEEE

Identifying the Failure-Tolerant Workspace Boundaries of a Kinematically Redundant Manipulator

14 years 23 days ago
Identifying the Failure-Tolerant Workspace Boundaries of a Kinematically Redundant Manipulator
— 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.
Rodney G. Roberts, Rodrigo S. Jamisola, Anthony A.
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Rodney G. Roberts, Rodrigo S. Jamisola, Anthony A. Maciejewski
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