Fault-tolerant kinematically redundant robots
Proceedings of the Thirty-Fourth Southeastern Symposium on System Theory (Cat. No.02EX540) - Trang 381-385
Tóm tắt
Fault tolerance is a critical issue for teleoperated or autonomous robotic systems that are operating in hazardous and/or remote environments where joint failures are likely. A single joint failure can render an otherwise dexterous manipulator useless. In this article, we examine two measures of fault tolerance. In addition to determining optimally fault tolerant configurations, these measures can be used to control the robot in anticipation of a joint failure and to design fault tolerant robot geometries.
Từ khóa
#Fault tolerance #Orbital robotics #Jacobian matrices #Sea measurements #Robot sensing systems #Actuators #Manipulator dynamics #Fault tolerant systems #Null space #KinematicsTài liệu tham khảo
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