Name
Abstract | ||
|---|---|---|
The application of robots in critical missions in hazardous environments requires the development of reliable or fault tolerant manipulators. In this paper, we define fault tol- erance as the ability to continue the performance of a task after immobilization of a joint due to failure. Initially, no joint limits are considered, in which case we prove the ex- istence of fault tolerant manipulators and develop an analysis tool to determine the fault tolerant work space. We also derive design templates for spatial fault tolerant manipulators. When joint limits are introduced, analytic solutions become infeasible but instead a numerical de- sign procedure can be used, as is illustrated through an example. |
Year | DOI | Venue |
|---|---|---|
1994 | 10.1109/ROBOT.1994.351405 | San Diego, CA |
Keywords | Field | DocType |
fault tolerant computing,kinematics,robots,critical missions,design templates,hazardous environments,reliable manipulators,robots,spatial fault tolerant manipulators | Kinematics,Control engineering,Redundancy (engineering),Fault tolerance,Engineering,Robot,Distributed computing | Conference |
ISSN | ISBN | Citations |
1050-4729 | 0-8186-5330-2 | 16 |
PageRank | References | Authors |
1.75 | 5 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Christiaan J. J. Paredis | 1 | 519 | 56.69 |
| Khosla, P.K. | 2 | 931 | 123.84 |