The feasibility of harnessing redundant degrees of freedom in a robotic arm in order to keep it in service, pending repair, after it has lost mobility in one of its joints, is examined. The concept of critical crippling is introduced, and three familiar robots are investigated as case studies. Guidelines on how one might enhance a manipulator's ability to continue operating productively even with a crippled joint are suggested.<>
Crippled motion in robots
IEEE Transactions on Aerospace and Electronic Systems ; 24 , 1 ; 2-13
1988-01-01
1159652 byte
Article (Journal)
Electronic Resource
English
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