DocumentCode
810979
Title
Crippled motion in robots
Author
Pradeep, A.K. ; Yoder, Paul J. ; Mukundan, Rangaswamy ; Schilling, Robert J.
Author_Institution
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Volume
24
Issue
1
fYear
1988
fDate
1/1/1988 12:00:00 AM
Firstpage
2
Lastpage
13
Abstract
The feasibility of harnessing redundant degrees of freedom in a robotic arm in order to keep it in service, pending repair, after it has lost mobility in one of its joints, is examined. The concept of critical crippling is introduced, and three familiar robots are investigated as case studies. Guidelines on how one might enhance a manipulator´s ability to continue operating productively even with a crippled joint are suggested
Keywords
control system analysis; industrial robots; maintenance engineering; redundancy; crippled joint; critical crippling; manipulator; mobility; redundant degrees of freedom; repair; robotic arm; Education; Guidelines; Hazardous materials; Investments; Mobile robots; Orbital robotics; Robotic assembly; Service robots; Space stations; Space technology;
fLanguage
English
Journal_Title
Aerospace and Electronic Systems, IEEE Transactions on
Publisher
ieee
ISSN
0018-9251
Type
jour
DOI
10.1109/7.1030
Filename
1030
Link To Document