Redundant manipulators may compensate for failed joints with their additional degrees of freedom. In this paper such a manipulator is considered fault tolerant if it can guarantee completion of a task after any one of its joints has failed. This fault tolerance of kinematically redundant manipulators is insured here. Methods to analyze the manipulator's work space find regions inherently suitable for critical tasks because of their high level of failure tolerance. Constraints are then placed on the manipulator's range of motion to guarantee completion of a task.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Failure tolerant operation of kinematically redundant manipulators


    Contributors:


    Publication date :

    1994-03-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    Failure Tolerant Operation of Kinematically Redundant Manipulators

    Maciejewski, A. A. / Lewis, C. L. / American Institute of Aeronautics and Astronautics et al. | British Library Conference Proceedings | 1994




    Design and control of modular, kinematically-redundant manipulators

    KARLEN, JAMES / THOMPSON, JR., JACK / FARRELL, JAMES | AIAA | 1987