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Kinematic design of fault tolerant manipulators

Authors :
Pradeep K. Khosla
W. K. Frederick Au
Christiaan J. J. Paredis
Source :
Computers & Electrical Engineering. 20:211-220
Publication Year :
1994
Publisher :
Elsevier BV, 1994.

Abstract

This paper defines the property of kinematic fault tolerance and develops a general constructive proof of the existence of fault tolerant manipulators. After formulating the necessary and sufficient condition for fault tolerance, a planar manipulator with a minimal kinematic structure is designed. A generalization to spatial manipulators, using a numerical approach is formulated. Finally, it is shown how this approach enables us to solve the spatial design problem.

Details

ISSN :
00457906
Volume :
20
Database :
OpenAIRE
Journal :
Computers & Electrical Engineering
Accession number :
edsair.doi...........541469e8443b43f26ec5e727f25ce79c
Full Text :
https://doi.org/10.1016/0045-7906(94)90016-7