Optimization of failure-tolerant workspaces for redundant manipulators

• Main Author: Jamisola, Rodrigo S., Jr.
• Format: text
• Published: Animo Repository 2010
• Subjects: Manipulators (Mechanism); Fault tolerance (Engineering); Robotics
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/7120
• Institution: De La Salle University

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