IEEE - Institute of Electrical and Electronics Engineers, Inc. - Analysis of manipulator structures under joint-failure with respect to efficient control in task-specific contexts

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Susanne Petsch ; Darius Burschka
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 1,963 - 1,969
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630838
Regular:

Robots are meanwhile able to perform several tasks. But what happens, if one or multiple of the robot's joints fail? Is the robot still able to perform the required tasks? Which capabilities of... View More

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