Development of Failure Recovery Techniques for Exploratory Robotic Systems using Kinematic Synthesis

This research is related to the development of strategies for recovery from joint failures in robotic arms mounted on a mobile platforms. We use the ability to reposition the base of the arm by relocating the platform and to change the position of the wrist by re-grasping 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.

faliure recovery