Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures

Author

English, James D. ; Maciejewski, Anthony A.

Author_Institution

Dept. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA

Volume

1

fYear

1996

fDate

22-28 Apr 1996

Firstpage

460

Abstract

Fault tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This article addresses the issue of tolerating a free-swinging joint failure by focusing on how to best configure a slow-moving manipulator before a failure. Three scalar measures of fault susceptibility are defined using joint torques/forces, acceleration, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are given. The formulas are valid for general n-link manipulators

Keywords

manipulator kinematics; redundancy; reliability; acceleration; fault susceptibility; fault tolerance; free-swinging joint failures; hazardous environments; joint forces; joint torques; kinematically redundant manipulators; multilink manipulators; remote environments; slow-moving manipulator configuration; swing angles; Acceleration; Buildings; Fault tolerance; Fault tolerant systems; Force measurement; Hydraulic actuators; Kinematics; Manipulators; Robots; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.503819

Filename

503819