Paper Info
Title
Designing fault-tolerant manipulators: how many degrees of freedom?
Abstract
One of the most important parameters to consider when designing a manipulator is the number of degrees-of-freedom (DOFs). This article focuses on the question: How many DOFs are necessary and sufficient for fault tolerance and how should these DOFs be distributed along the length of the manipulator? A manipulator is fault tolerant if it can complete its task even when one of its joints fails and is immobilized. The number of degrees-of-freedom needed for fault tolerance strongly depends on the knowledge available about the task. In this article, two approaches are explored. First, for the design of a General Purpose Fault Tolerant Manipulator, it is assumed that neither the exact task trajectory, nor the redundancy resolution algorithm are known a priori and that the manipulator has no joint limits. In this case, two redundant DOFs are necessary and sufficient to sustain one joint failure as is demonstrated in two design templates for spatial fault tolerant manipulators. In a second approach, both the Cartesian task path and the redundancy resolution algorithm are assumed to be known. The design of such a Task Specific Fault Tolerant Manipulator requires only one degree-of-redundancy.
Year
DOI
Venue
1996
10.1177/027836499601500606
The International Journal of Robotics Research
Keywords
DocType
Volume
fault-tolerant manipulator
Journal
15
Issue
ISSN
Citations 
6
0278-3649
24
PageRank 
References 
Authors
1.26
11
2
Name
Order
Citations
PageRank
Christiaan J. J. Paredis151956.69
Pradeep K. Khosla22449302.78