Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study

Goel, Manish; Maciejewski, Anthony A.; Balakrishnan, V.; Proctor, Robert W.

doi:10.1109/robot.1999.772400

Cited by 9 publications

(12 citation statements)

References 27 publications

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“…The application might be nuclear disposal, deep-sea missions, or outer-space explorations. 1,2 This fact has been noticed for the teleoperated manipulators for handling of hazardous or explosive chemicals. 3,4 Design and control of faulttolerant manipulator aim to maintain the dependability of the manipulator despite of partial failures.…”

Section: Introductionmentioning

confidence: 89%

Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators

Asayesh¹,

Nahavandi²,

Frayman³

et al. 2011

Robotica

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SUMMARYSelf-reconfiguration of robotic manipulators under joint failure can be achieved via fault-tolerance strategies. Faulttolerant manipulators are required to continue their endeffector motion with a minimum velocity jump, when failures occur to their joints. Optimal fault tolerance of the manipulators requires a framework that can map the velocity jump of the end-effector to the compensating joint velocity commands. The main objective of the present paper is to propose a general framework for the fault tolerance of the manipulators, which can minimize the end-effector velocity jump. In the present paper, locked joint failures of the manipulators are modeled using matrix perturbation methodology. Then, the optimal mapping for the faults with a minimum end-effector velocity jump is presented. On the basis of this mapping, the minimum end-effector velocity jump is calculated. A generalized framework is derived from the extension of optimal mapping toward multiple locked joint failures. Two novel expressions are derived representing the generalized optimal mapping framework and the generalized minimum velocity jump. These expressions are suitable for the optimal fault tolerance of the serial link redundant manipulators. The required conditions for a zero end-effector velocity jump of the manipulators are analyzed. The generalized framework in this paper is then evaluated for different failure scenarios for a 5-DOF planar manipulator and a 5-DOF spatial manipulator. The validation includes three case studies. While the first two are instantaneous studies, the third one is for the whole trajectory of the manipulators. From the results of these case studies, it is shown that, when locked joint faults occur, the faulty manipulator is able to optimally maintain its velocity with a zero end-effector velocity jump if the conditions of a zero velocity jump are hold.

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Section: Introductionmentioning

confidence: 89%

Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators

Asayesh¹,

Nahavandi²,

Frayman³

et al. 2011

Robotica

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“…Redundancy manipulators are usually applied for tasks in hazardous environments, such as the nuclear disposal, outer-space explorations and deep-sea missions [1]. During its long-time service, many kinds of malfunctions are inevitable, such as joint delay, performance degradation and joint complete failure.…”

Section: Introductionmentioning

confidence: 99%

The optimization of global fault tolerant trajectory for redundant manipulator based on self-motion

Zhang

Jia

Chen

et al. 2015

MATEC Web of Conferences

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Abstract. The redundancy feature of manipulators provides the possibility for the fault tolerant trajectory planning. Aiming at the completion of the specific task, an algorithm of global fault tolerant trajectory optimization for redundant manipulator based on the self-motion is proposed in this paper. Firstly, inverse kinematics equation of single redundancy manipulator based on self-motion variable and null-space velocity array of Jacobian are analyzed. Secondly, the mathematical description of fault tolerance criteria of the configuration of manipulator is established and the fault tolerance configuration group of manipulator is obtained by using iteration traversal under the fault tolerance criteria. Then, considering the joint limits and minimum the energy consumption as the optimization target, the global fault tolerant joint trajectory is achieved. Finally, simulation for 7 degree of freedom (DOF) manipulator is performed, by which the effectiveness of the algorithm is validated.

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“…E-mail: hamid.abdi@deakin.edu.au and reliability of surgical robots are critical to prevent patient injury because of robot failure [3,4]. This is true for most applications of fault-tolerant robots from 5 space exploration to hazardous material disposal where the robot failure can result in a catastrophic outcome [5][6][7][8][9]. Fault tolerance is important because it increases the dependability of the robots.…”

Section: Introductionmentioning

confidence: 99%

“…The added kinematic redundancy not only improves the fault tolerance of the manipulators [13, [18][19][20][21], but also can improve other static and/or dynamic properties of the manipulator. There have been a number of studies 25 on FTW of redundant manipulators [6,[22][23][24][25]. There have also been studies on the reliability analysis of manipulators [16,[26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Reliability maps for probabilistic guarantees of task motion for robotic manipulators

2013

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10There are many applications for which reliable and safe robots are desired. For example, assistant robots for disabled or elderly people and surgical robots are required to be safe and reliable to prevent human injury and task failure. However, different levels of safety and reliability are required for different tasks so that understanding the reliability of robots is paramount. Currently, it is possible to guarantee the completion of a task when the robot is fault tolerant and the task remains in the fault-tolerant workspace 15 (FTW). The traditional definition of FTW does not consider different reliabilities for the robotic manipulator's different joints. The aim of this paper is to extend the concept of a FTW to address the reliability of different joints. Such an extension can offer a wider FTW while maintaining the required level of reliability. This is achieved by associating a probability with every part of the workspace to extend the FTW. As a result, reliable fault-tolerant workspaces (RFTWs) are introduced by using the novel concept 20 of conditional reliability maps. Such a RFTW can be used to improve the performance of assistant robots while providing the confidence that the robot remains reliable for completion of its assigned tasks.

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Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study

Cited by 9 publications

References 27 publications

Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators

Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators

The optimization of global fault tolerant trajectory for redundant manipulator based on self-motion

Reliability maps for probabilistic guarantees of task motion for robotic manipulators

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