DEXTERITY OPTIMIZATION OF KINEMATICALLY REDUNDANT MANIPULATORS IN THE PRESENCE OF JOINT FAILURES

被引:56
作者
LEWIS, CL [1 ]
MACIEJEWSKI, AA [1 ]
机构
[1] PURDUE UNIV,SCH ELECT ENGN,W LAFAYETTE,IN 47907
基金
美国国家科学基金会;
关键词
KINEMATICALLY REDUNDANT; FAULT TOLERANCE; DEXTERITY; ROBOTICS;
D O I
10.1016/0045-7906(94)90021-3
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
Robotic manipulators working in remote or hazardous environments require additional measures to ensure their usability upon The failure of an actuator. This work considers failure modes that result in an immobilized joint and uses the concept of worst-case dexterity to define kinematic and dynamic fault tolerance measures for redundant manipulators. These measures are then used to specify the operating configuration which is optimal in the sense that the manipuLator's dexterity remains high even if one of its joints fails in a locked position. The close relationship between fault tolerance and dexterity is examined using a simple planar manipulator as an example. It is demonstrated that an inverse kinematic function which maintains a high level of fault tolerance also keeps the manipulator in well-conditioned configurations known to have desirable properties.
引用
收藏
页码:273 / 288
页数:16
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