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Failure tolerant operation of kinematically redundant manipulators
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Lewis, Christopher L. Maciejewski, Anthony A. |
| Copyright Year | 1994 |
| Description | Redundant 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. |
| File Size | 454626 |
| Page Count | 5 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19950005139 |
| Archival Resource Key | ark:/13960/t3nw4cz7g |
| Language | English |
| Publisher Date | 1994-03-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Fault Tolerance Degrees of Freedom Joints Junctions Three Dimensional Motion Redundant Components Manipulators Reliability Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
