Philippine Science Letters
vol. 3 | no. 1 | 2010
published online April 16, 2010


Optimization of Failure-Tolerant Workspaces for Redundant Manipulators

by Rodrigo S. Jamisola, Jr.

Electronics and Communications Engineering Dept. De La Salle University – Manila 201 Taft Ave., 1004 Manila



For a redundant manipulator a region in its workspace that is guaranteed failure tolerant, called the failuretolerant workspace, promises completion of critical tasks placed within it. By judiciously choosing a set of artificial joint limits which constrain the acceptable robot configurations prior to a failure, a failuretolerant workspace can possibly exist even for manipulators with a single degree of redundancy. This work identifies the candidate boundaries of failure-tolerant workspaces, and presents justification on their validity and completeness. Based on the identified boundaries, optimization results for a 3-degreeof- freedom (dof) planar manipulator, as well as for a 4-dof planar manipulator, are presented. It assumed that the manipulator has the ability to lock a joint that has failed, and that the manipulator’s workspace degree of freedom remains the same before and after a joint failure.

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Submitted: August 29, 2009
Revised: March 24, 2010
Accepted: March 24, 2010
Published: April 16, 2010
Editor-in-charge: Eduardo A. Padlan