Optimization of Failure-Tolerant Workspaces for Redundant Manipulators

Journal article

Authors / Editors

Jamisola, Rodrigo

Research Areas

ENGINEERING AND TECHNOLOGY (Frascati classification)

Publication Details

Subtitle: Optimization of Failure-Tolerant Workspaces for Redundant Manipulators

Author list: Jamisola, Rodrigo

Publisher: National Academy of Sciences -- India

Publication year: 2010

ISSN: 0250-541X

URL: http://philsciletters.org/2010/20109.pdf

Languages: English-United States (EN-US)

Abstract

For a redundant manipulator a region in its workspace that is guaranteed failure tolerant, called the failure tolerant workspace, promises completion of criticaltasks placed within it. By judiciously choosing a set of artificial joint limits which constrain theacceptable robot configurations prior to a failure, a failuretolerantworkspace can possibly exist even for manipulators with a single degree of redundancy. This work identifies the candidate boundaries of failure-tolerant workspaces, andpresents justification on their validity and completeness. Basedon the identified boundaries, optimization results for a 3- degreeof-freedom(dof) planar manipulator, as well as for a 4-dof planar manipulator, are presented. It assumed that themanipulator has the ability to lock a joint that has failed, and thatthe manipulator’s workspace degree of freedom remains thesame before and after a joint failure.

Keywords

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