Planning Fail-Safe Trajectories for Space Robotic Arms

A frequent concern for robot manipulators deployed in dangerous and hazardous environments for humans is the reliability of task executions in the event of a joint failure. A redundant robotic manipulator can be used to mitigate the risk and guarantee a post-failure task completion, which is critica...

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Autores principales:	Oliver Porges, Daniel Leidner, Máximo A. Roa
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	manipulation planning robotic arms fail-safe trajectories fault-tolerant manipulators space manipulator Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/781c673265e54ad4b283d71465bb9fb7
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id	oai:doaj.org-article:781c673265e54ad4b283d71465bb9fb7
record_format	dspace
spelling	oai:doaj.org-article:781c673265e54ad4b283d71465bb9fb72021-12-01T19:40:37ZPlanning Fail-Safe Trajectories for Space Robotic Arms2296-914410.3389/frobt.2021.710021https://doaj.org/article/781c673265e54ad4b283d71465bb9fb72021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/frobt.2021.710021/fullhttps://doaj.org/toc/2296-9144A frequent concern for robot manipulators deployed in dangerous and hazardous environments for humans is the reliability of task executions in the event of a joint failure. A redundant robotic manipulator can be used to mitigate the risk and guarantee a post-failure task completion, which is critical for instance for space applications. This paper describes methods to analyze potential risks due to a joint failure, and introduces tools for fault-tolerant task design and path planning for robotic manipulators. The presented methods are based on off-line precomputed workspace models. The methods are general enough to cope with robots with any type of joint (revolute or prismatic) and any number of degrees of freedom, and might include arbitrarily shaped obstacles in the process, without resorting to simplified models. Application examples illustrate the potential of the approach.Oliver PorgesDaniel LeidnerMáximo A. RoaFrontiers Media S.A.articlemanipulation planningrobotic armsfail-safe trajectoriesfault-tolerant manipulatorsspace manipulatorMechanical engineering and machineryTJ1-1570Electronic computers. Computer scienceQA75.5-76.95ENFrontiers in Robotics and AI, Vol 8 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	manipulation planning robotic arms fail-safe trajectories fault-tolerant manipulators space manipulator Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
spellingShingle	manipulation planning robotic arms fail-safe trajectories fault-tolerant manipulators space manipulator Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 Oliver Porges Daniel Leidner Máximo A. Roa Planning Fail-Safe Trajectories for Space Robotic Arms
description	A frequent concern for robot manipulators deployed in dangerous and hazardous environments for humans is the reliability of task executions in the event of a joint failure. A redundant robotic manipulator can be used to mitigate the risk and guarantee a post-failure task completion, which is critical for instance for space applications. This paper describes methods to analyze potential risks due to a joint failure, and introduces tools for fault-tolerant task design and path planning for robotic manipulators. The presented methods are based on off-line precomputed workspace models. The methods are general enough to cope with robots with any type of joint (revolute or prismatic) and any number of degrees of freedom, and might include arbitrarily shaped obstacles in the process, without resorting to simplified models. Application examples illustrate the potential of the approach.
format	article
author	Oliver Porges Daniel Leidner Máximo A. Roa
author_facet	Oliver Porges Daniel Leidner Máximo A. Roa
author_sort	Oliver Porges
title	Planning Fail-Safe Trajectories for Space Robotic Arms
title_short	Planning Fail-Safe Trajectories for Space Robotic Arms
title_full	Planning Fail-Safe Trajectories for Space Robotic Arms
title_fullStr	Planning Fail-Safe Trajectories for Space Robotic Arms
title_full_unstemmed	Planning Fail-Safe Trajectories for Space Robotic Arms
title_sort	planning fail-safe trajectories for space robotic arms
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/781c673265e54ad4b283d71465bb9fb7
work_keys_str_mv	AT oliverporges planningfailsafetrajectoriesforspaceroboticarms AT danielleidner planningfailsafetrajectoriesforspaceroboticarms AT maximoaroa planningfailsafetrajectoriesforspaceroboticarms
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Planning Fail-Safe Trajectories for Space Robotic Arms

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