Failure Recovery Planning for an Arm Mounted on an Exploratory Rover

• Published in: IEEE transactions on robotics Vol. 25; no. 6; pp. 1448 - 1453
• Main Authors: Patarinsky-Robson, N., McCarthy, J.M., Tumer, I.Y.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.12.2009; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Actuators; Applied sciences; Computer science; control theory; systems; Control theory. Systems; Crippled manipulators; Degrees of freedom; Exact sciences and technology; Failure; Failure analysis; Fault tolerance; Kinematics; Manipulators; Mathematical analysis; mechanism design; Orbital robotics; Platforms; robot recovery; Robotic assembly; Robotics; Robots; Specifications; Strategic planning; Strategy; Tasks; Vision systems; Wrist; Wrist; Mechanism synthesis; Moving robot; Kinematics; robot recovery; Crippled manipulators; mechanism design; Planning; Arm; Robotics; Manipulator
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2009.2032958

In this paper, we present a strategy for recovery from joint failures in a robot arm mounted on a mobile platform. We use the ability to reposition the base of the arm by relocating the platform and to change the position of the wrist by regrasping the scientific-tool package to provide design degrees of freedom (DOFs). The velocity and acceleration specifications of the task combine with the constraints imposed by the joint failure to yield values for these DOFs that ensure that the task can be achieved despite the joint failure.