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

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2 Author(s)
English, J.D. ; Raytheon Syst. Co., Tucson, AZ, USA ; Maciejewski, A.A.

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, accelerations, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are also given. The formulas are valid for general n-link manipulators

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Robotics and Automation, IEEE Transactions on  (Volume:14 ,  Issue: 4 )