Work-Space Design for Fault Tolerant Manipulators

Autor:	Kubilay Kaan Aydin
Rok vydání:	1996
Předmět:	Task (computing) Engineering Control theory business.industry Reliability (computer networking) Work (physics) Volume (computing) Fault tolerance Control engineering Manipulator business Kinematic redundancy Work space
Zdroj:	IFAC Proceedings Volumes. 29:313-318
ISSN:	1474-6670
DOI:	10.1016/s1474-6670(17)57681-8
Popis:	Kinematic redundancy can be utilised to increase the reliability of operations performed by manipulators as presented in this paper. Fault tolerance is defined as the ability to continue the performance of a task after total failure or partial immobilisation of a manipulator joint. Fault tolerant work space is defined as a sub-work-space volume where a fault tolerant redundant manipulator can continue its work even under the failure of one or more of its joints. Design examples are presented for planar positional manipulators showing that fault tolerant work spaces of desired shape and dimensions can be attained by the proper design of redundant manipulators.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::ed5687fe691e34bb83a2a6ce4d99b400 https://doi.org/10.1016/s1474-6670(17)57681-8 Zobrazit plný text záznamu