首页|The kinematic design of redundant robots for maximizing failure-tolerant workspace size
The kinematic design of redundant robots for maximizing failure-tolerant workspace size
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NSTL
Elsevier
It has been shown that one can guarantee a reachable workspace for a kinematically redundant robot after an arbitrary locked-joint failure if one artificially restricts the range of its joints prior to the failure. This work presents an algorithm for computing the optimal kinematic parameters and artificial joint limits for a robot to maximize this so-called "failure-tolerant workspace". The proposed technique employs a genetic algorithm that incorporates a novel method for selecting an initial population that results in fast convergence to high-quality solutions. The algorithm is illustrated on multiple examples of kinematically redundant robots and is shown to be computationally tractable even for robots that perform tasks in 6D workspaces.
NSTL
Elsevier
