A local measure of fault tolerance for kinematically redundant manipulators

IEEE Transactions on Robotics and Automation

Volumn 12, Issue 4, 1996, Pages 543-552

  Roberts, Rodney G ^a,b   Maciejewski, Anthony A ^a,c  

^a IEEE

^b FLORIDA STATE UNIVERSITY   (United States)

^c PURDUE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; FAULT TOLERANT COMPUTER SYSTEMS; MATHEMATICAL MODELS; MOTION CONTROL; REDUNDANCY;

JOINT FAILURE; MANIPULABILITY INDEX; MANIPULATOR JACOBIAN;

MANIPULATORS;

EID: 0030213516     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.508437     Document Type: Article

References (28)

1. J. Angeles, "The design of isotropic manipulator architectures in the presence of redundancies," Int. J. Robot. Res., vol. 11, no. 3, pp. 196-201, June 1992.
2. J. Baillieul, "Kinematic programming alternatives for redundant manipulators," Proc. 1985 IEEE Int. Conf. Robotics Automat., St. Louis, MO, Mar. 1985, pp. 722-728.
3. _, "Avoiding obstacles and resolving redundancy," Proc. 1986 IEEE Int. Conf. Robotics Automat., San Francisco, CA, Apr. 1986, pp. 1698-1703.
4. J. Baillieul, J. Hollerbach, and R. Brockett, "Programming and control of kinematically redundant manipulators," Proc. 24th IEEE Conf. Decision Control, Las Vegas, Dec. 12-14, 1984, pp. 768-774.
5. D. R. Baker and C. W. Wampler II, "On the inverse kinematics of redundant manipulators", Int. J. Robotics Res., vol. 7, no. 2, pp. 3-21, Mar./Apr. 1988.
6. J. W. Burdick, "A recursive method for finding revolute-jointed manipulator singularities," ASME J. Mech. Design, vol. 117, no. 1, pp. 55-63, Mar. 1995.
7. Y.-C. Chen and I. D. Walker, "A consistent null-space based approach to inverse kinematics of redundant robots," Proc. 1993 IEEE Int. Conf. Robotics Automat., pp. 374-381, May 1993.
8. R. Colbaugh and M. Jamshidi, "Robot manipulator control for hazardous waste-handling applications," J. Robotic Sys., vol. 9, no. 2, pp. 215-250, 1992.
9. R. Dubey and J.Y.S. Luh, "Redundant robot control for higher flexibility," Proc. 1987 IEEE Int. Conf. Robotics Automat., Raleigh, N.C., Mar.-Apr. 1987, pp. 1066-1072.
10. O. Egeland, "Task-space tracking with redundant manipulators," IEEE J. Robotics Automat., vol. RA-3, no. 5, pp. 471-475, Oct. 1987.
11. M. A. Gonzalez-Palacios, J. Angeles, and R. Ranjbaran, "The kinematic synthesis of serial manipulators with a prescribed Jacobian," Proc. 1993 Int. Conf. Robotics and Automat., Atlanta, GA, May 2-6 1993, pp. 450-455.
12. J. M. Hollerbach, "Optimum kinematic design for a seven degree of freedom manipulator," Robotics Research: The Second Int. Symp., H. Hanafusa and H. Inoue, editors, 1985, pp. 349-356.
13. J. M. Hollerbach and K.C. Suh, "Redundancy resolution of manipulators through torque optimization," IEEE J. Robot. Automat., vol. RA-3, no. 4, pp. 308-316, Aug. 1987.
14. C. A. Klein and B. E. Blaho, "Dexterity measures for the design and control of kinematically redundant manipulators," Int. J. Robotics Res., vol. 6, no. 2, pp. 72-83, Su 1987.
15. C. L. Lewis and A. A. Maciejewski, "Optimization of the dynamic performance of redundant robots in the presence of faults," Proc. Fourth Int. Symp. Robotics Manufacturing (ISRAM '92), Sante Fe, NM, Nov. 11-13, 1992, pp. 279-284.
16. C. L. Lewis and A. A. Maciejewski, "Dexterity optimization of kinematically redundant manipulators in the presence of failures," Computers and Electrical Engineering: An Int. J., (Special Issue on Fault Tolerant Robots), vol. 20, no. 3, pp. 273-288, May 1994.
17. A. A. Maciejewski, "Fault tolerant properties of kinematically redundant manipulators," Proc. 1990 IEEE Int. Conf. Robotics Automat., pp. 638-642, May 1990.
18. A. A. Maciejewski and C. A. Klein, "Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments," Int. J. Robotics Res., vol. 4, no. 3, pp. 109-117, Fall 1985.
19. Y. Nakamura, H. Hanafusa, and T. Yoshikawa, "Task-priority based redundancy control of robot manipulators," Int. J. Robotics Res., vol. 6, no. 2, pp. 3-15, Su 1987.
20. C. J. J. Paredis, W. K. F. Au, and P. K. Khosla, "Kinematic design of fault tolerant manipulators," Computers and Electrical Engineering: An Int. J., (Special Issue on Fault Tolerant Robots), vol. 20, no. 3, pp. 211-220, May 1994.
21. D. L. Schneider, D. Tesar, and J. W. Barnes, "Development & testing of a reliability performance index for modular robotic systems," Proc. 1994 Annual Reliability and Maintainability Symp., Anaheim, CA, Jan. 24-27, 1994, pp. 263-270.
22. H. Seraji, "Configuration control of redundant manipulators: Theory and implementation," IEEE Trans. Robot. Automat., vol. 5, no. 4, pp. 472-490, Aug. 1989.
23. M. Tandirci, J. Angeles, and F. Ranjibaran, "The characteristic point and the characteristic length of robotic manipulators," Robotics, Spatial Mechanisms, and Mechanical Systems, pp. 203-207, Scottsdale, AZ, Sept. 13-16 1992.
24. M. L. Visinsky, I. D. Walker, and J. R. Cavallaro, "Layered dynamic fault detection and tolerance for robots," Proc. 1993 Int. Conf. Robotics Automat., Atlanta, GA, May 2-6, 1993, pp. 180-187.
25. Z. Wang and K. Kazerounian, "Analytical determination of the null space of anthropomorphic manipulators," IEEE Trans. Syst., Man, Cybern., vol. 22, no. 6, pp. 1488-1492, 1992.
26. T. Yoshikawa, "Analysis and control of robot manipulators with redundancy," Robotics Research: The First International Symposium, M. Brady and R. Paul, Eds. Cambridge, MA: MIT Press, 1984, pp. 735-747.
27. _, "Manipulability of robotic mechanisms," Int. J. Robotics Res., vol. 4, no. 2, pp. 3-9, Summer 1985.
28. _, "Dynamic manipulability of robot manipulators," J. Robotic Sys., vol. 2, no. 1, pp. 113-124, 1985.