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Measuring and reducing the Euclidean-space effects of robotic joint failures

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2 Author(s)
English, J.D. ; MAK Technol., Cambridge, MA, USA ; Maciejewski, A.A.

Robotic joint failures are directly characterized and measured in joint space. A locking failure, for example, is one for which a joint cannot move, and it gives an error equal to the desired value minus the locked value. This article extends the joint-space characterization to Euclidean space by measuring the failure effect. The approach is based on a rudimentary measure of point error that can be defined to be distance or path length. It is used to form comprehensive measures through weighted integration over Euclidean-space regions. For kinematically redundant manipulators, minimizing the measures using the redundancy is a method to induce failure tolerance. This can be applied both before a failure to reduce the likelihood of collision-induced damage and after a failure to reduce end-effector error. Examples for both cases are given

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:16 ,  Issue: 1 )