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...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2021-11-01
|
| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.710021/full |
| _version_ | 1819129544386281472 |
|---|---|
| author | Oliver Porges Daniel Leidner Máximo A. Roa |
| author_facet | Oliver Porges Daniel Leidner Máximo A. Roa |
| author_sort | Oliver Porges |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-12-22T08:45:24Z |
| format | Article |
| id | doaj.art-781c673265e54ad4b283d71465bb9fb7 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-22T08:45:24Z |
| publishDate | 2021-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-781c673265e54ad4b283d71465bb9fb72022-12-21T18:32:08ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442021-11-01810.3389/frobt.2021.710021710021Planning Fail-Safe Trajectories for Space Robotic ArmsOliver Porges0Daniel Leidner1Máximo A. Roa2Agile Robots, Munich, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyA 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.https://www.frontiersin.org/articles/10.3389/frobt.2021.710021/fullmanipulation planningrobotic armsfail-safe trajectoriesfault-tolerant manipulatorsspace manipulator |
| spellingShingle | Oliver Porges Daniel Leidner Máximo A. Roa Planning Fail-Safe Trajectories for Space Robotic Arms Frontiers in Robotics and AI manipulation planning robotic arms fail-safe trajectories fault-tolerant manipulators space manipulator |
| title | 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_short | Planning Fail-Safe Trajectories for Space Robotic Arms |
| title_sort | planning fail safe trajectories for space robotic arms |
| topic | manipulation planning robotic arms fail-safe trajectories fault-tolerant manipulators space manipulator |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2021.710021/full |
| work_keys_str_mv | AT oliverporges planningfailsafetrajectoriesforspaceroboticarms AT danielleidner planningfailsafetrajectoriesforspaceroboticarms AT maximoaroa planningfailsafetrajectoriesforspaceroboticarms |