Implications of faults in manipulator joints on the work-space

In this paper effects of faults in manipulator joints on the work-space of the manipulator are investigated. It is known that kinematic redundancy can be utilized to increase the fault tolerance of manipulators. Fault tolerance for manipulators is defined as the ability to continue the performance of a task after total failure or partial immobilization of a manipulator joint. Redundant planar manipulators are used in this study for demonstrating how kinematic redundancy can be utilized to compensate for joint faults. Effects of joint faults on the shape and size of the work-space of a manipulator are also presented. Work-space-under-fault is defined as a sub-work-space volume where a fault tolerant redundant manipulator can continue its work even under the failure of one or more of its joints.