Failure Tolerant Teleoperation of a Kinematically Redundant Manipulator: An Experimental Study

IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans.

Volumn 33, Issue 6, 2003, Pages 758-765

  Goel, M ^a   Maciejewski, A A ^b   Balakrishnan, V ^c   Proctor, R W ^d  

^a APPLIED MATERIALS INC   (United States)

^b Department of Mechanical Engineering   (United States)

^c PURDUE UNIVERSITY   (United States)

^d PURDUE UNIVERSITY   (United States)

Author keywords

Fault failure tolerance; Kinematically redundant; Kinematics; Locked joint failure; Manipulators; Redundant robots manipulators; Teleoperation

Indexed keywords

COMPUTER CONTROL; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; FAILURE ANALYSIS; INVERSE KINEMATICS; MAN MACHINE SYSTEMS; MOTION PLANNING; ROBOTIC ARMS; SERVOMECHANISMS; TELECONTROL EQUIPMENT; UNIVERSAL JOINTS; VECTORS; VELOCITY CONTROL;

LOCKED JOINT FAILURE; PSEUDOINVERSE CONTROL;

REDUNDANT MANIPULATORS;

EID: 0347337923     PISSN: 10834427     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCA.2003.818462     Document Type: Article

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