Fault tolerant task execution through global trajectory planning

Reliability Engineering and System Safety

Volumn 53, Issue 3 SPEC. ISS., 1996, Pages 225-235

  Paredis, Christiaan J J ^a   Khosla, Pradeep K ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

FAILURE ANALYSIS; MANIPULATORS; REDUNDANCY; RELIABILITY; TRAJECTORIES;

FAULT TOLERANT TASK EXECUTION; GLOBAL TRAJECTORY PLANNING;

FAULT TOLERANT COMPUTER SYSTEMS;

EID: 0030232383     PISSN: 09518320     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0951-8320(96)00050-6     Document Type: Article

References (17)

1. Burdick, J. W., Kinematic analysis and design of redundant robot manipulators. Stanford Computer Science Report no. STAN-CS-88-1207, Stanford University, USA, 1988.
2. Golub, G. H. & Van Loan, C. F. , Matrix Computations (second edition), The Johns Hopkins University Press, Baltimore, USA, 1989.
3. Kelmar, L. & Khosla, P.K., Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator system. J. Robotic Systems, 7 (1990) 599-619.
4. Kim, J.O. & Khosla, P. K., Dexterity measures for design and control of manipulators. In Proc. IEEE/RSJ Int. Workshop on Intelligent Robots and Systems (IROS'91), pp. 758-763, Osaka, Japan, November 1991.
5. Kotosaka, S., Asama, H., Kaetsu, H., Endo, I., Sato, K., Okada, S. & Nakayama, R., Fault tolerance of a functionally adaptive and robust manipulator. In Proc. 1993 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS'93), pp. 294-300, Yokohama, Japan, 26-30 July 1993.
6. Lewis, C.L. & Maciejewski, A.A., Dexterity optimization of kinematically redundant manipulators in the presence of joint failures . Computers and Elect. Engng, 20 (1994) 273-288.
7. Lewis C. L. & Maciejewski, A. A., An example of failure tolerant operation of a kinematically redundant manipulator. In Proc. 1994 IEEE Int. Conf. Robotics and Automation, pp 1380-1387, San Diego, California, 8-13 May 1994.
8. Luck, C. L. & Lee, S., Global path planning of redundant manipulators based on self-motion topology. In Proc. 1994 IEEE Int. Conf. Robotics and Automation, pp. 372-377, San Diego, California, 8-13 May 1994.
9. Nenchev, D.N., Redundancy resolution through local optimization: a review. J. Robotic Systems, 6 (1989) 769-798.
10. Paredis, C. J. J., Brown, H. B., Casciola, R. W., Moody, J. E. & Khosla, P. K., A rapidly deployable fault tolerant manipulator system. In Proc. Workshop on Some Critical Issues in Robotics, Singapore, 2-3 October 1995.
11. Paredis, C. J. J. & Khosla, P. K., Mapping tasks into fault tolerant manipulators. In Proc. 1994 IEEE Int. Conf. Robotics and Automation, pp. 696-703, San Diego, California, 8-13 May 1994.
12. Paredis, C. J. J. & Khosla, P. K., Design of modular fault tolerant manipulators. In The Algorithmic Foundations of Robotics, (eds K. Goldberg et al.) A.K. Peters, Boston, Massachsetts, 1995, pp. 371-383.
13. Sreevijayan, D., On the design of fault-tolerant robotic manipulator systems. M.S. thesis, Mechanical Engineering Department, The University of Texas at Austin, 1992.
14. Tesar, D. & Butler, M.S., A generalized modular architecture for robot structures. Manufacturing Rev., 2 (1989) 91-118.
15. Ting, Y., Tosunoglu, S. & Tesar, D., Control algorithms for fault-tolerant robots. In Proc. 1994 IEEE Int. Conf. Robotics and Automation, pp. 910-915, San Diego, California, 8-13 May 1994.
16. Visinsky, M. L., Walker, I. D. & Cavallaro, J. R., New dynamic model-based fault detection thresholds for robot manipulators. In Proc. 1994 IEEE Int. Conf. Robotics and Automation, San Diego, California, pp. 1388-1395, 8-13 May 1994.
17. Wu, B.C., Hwang, J.C. & Chladek, J.T., Fault-tolerant joint development for the space shuttle remote manipulator system: analysis and experiment. IEEE Trans. Robotics & Automation, 9 (1995) 675-684.