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Summary
This summary is machine-generated.

This study introduces methods for fault-tolerant task design and path planning in robotic manipulators to ensure reliable operation after joint failure. These techniques are crucial for robots operating in hazardous environments, enhancing safety and mission success.

Keywords:
fail-safe trajectoriesfault-tolerant manipulatorsmanipulation planningrobotic armsspace manipulator

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Area of Science:

  • Robotics
  • Fault-Tolerant Systems
  • Path Planning

Background:

  • Robot manipulators in hazardous environments face reliability challenges due to potential joint failures.
  • Ensuring task completion post-failure is critical for applications like space exploration.
  • Redundant robotic manipulators offer a solution to mitigate risks associated with joint failure.

Purpose of the Study:

  • To develop methods for analyzing risks associated with joint failures in robotic manipulators.
  • To introduce tools for designing fault-tolerant tasks and planning paths for robots.
  • To enhance the reliability and safety of robot manipulators in critical applications.

Main Methods:

  • Analysis of potential risks arising from joint failures.
  • Development of fault-tolerant task design strategies.
  • Implementation of path planning algorithms for post-failure operation.
  • Utilizing off-line precomputed workspace models for analysis and planning.

Main Results:

  • Methods presented are general for various joint types (revolute, prismatic) and degrees of freedom.
  • The approach accommodates arbitrarily shaped obstacles without requiring simplified robot models.
  • Demonstrated potential of the approach through application examples.

Conclusions:

  • The developed methods effectively address the challenge of joint failures in robotic manipulators.
  • The tools enable reliable task execution even after a component failure.
  • This research contributes to safer and more dependable robotic operations in hazardous environments.