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Failure tolerant operation of kinematically redundant manipulatorsRedundant manipulators may compensate for failed joints with their additional degrees of freedom. In this paper such a manipulator is considered fault tolerant if it can guarantee completion of a task after any one of its joints has failed. This fault tolerance of kinematically redundant manipulators is insured here. Methods to analyze the manipulator's work space find regions inherently suitable for critical tasks because of their high level of failure tolerance. Constraints are then placed on the manipulator's range of motion to guarantee completion of a task.
Document ID
19950005139
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lewis, Christopher L.
(Purdue Univ. West Lafayette, IN, United States)
Maciejewski, Anthony A.
(Purdue Univ. West Lafayette, IN, United States)
Date Acquired
September 6, 2013
Publication Date
March 1, 1994
Publication Information
Publication: NASA. Johnson Space Center, Conference on Intelligent Robotics in Field, Factory, Service and Space (CIRFFSS 1994), Volume 2
Subject Category
Mechanical Engineering
Report/Patent Number
AIAA PAPER 94-1296-CP
Report Number: AIAA PAPER 94-1296-CP
Accession Number
95N11552
Distribution Limits
Public
Copyright
Public Use Permitted.
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