Show/Hide Menu
Hide/Show Apps
anonymousUser
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Açık Bilim Politikası
Açık Bilim Politikası
Frequently Asked Questions
Frequently Asked Questions
Browse
Browse
By Issue Date
By Issue Date
Authors
Authors
Titles
Titles
Subjects
Subjects
Communities & Collections
Communities & Collections
Implications of faults in manipulator joints on the work-space
Date
1996-05-16
Author
Aydin, KK
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
1
views
0
downloads
In this paper effects of faults in manipulator joints on the work-space of the manipulator are investigated. It is known that kinematic redundancy can be utilized to increase the fault tolerance of manipulators. Fault tolerance for manipulators is defined as the ability to continue the performance of a task after total failure or partial immobilization of a manipulator joint. Redundant planar manipulators are used in this study for demonstrating how kinematic redundancy can be utilized to compensate for joint faults. Effects of joint faults on the shape and size of the work-space of a manipulator are also presented. Work-space-under-fault 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.
Subject Keywords
Fault tolerance
,
Kinematics
,
Equations
,
Goniometers
,
Shape
URI
https://hdl.handle.net/11511/63853
Collections
Department of Mechanical Engineering, Conference / Seminar