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Reliability maps and probabilistic guarantee of task motion for robotic manipulators

Abdi, Hamid, Maciejewscki, Anthony A. and Nahavandi, Saeid 2013, Reliability maps and probabilistic guarantee of task motion for robotic manipulators, Advanced robotics, vol. 27, no. 2, pp. 81-92, doi: 10.1080/01691864.2012.703302.

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Title Reliability maps and probabilistic guarantee of task motion for robotic manipulators
Author(s) Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Maciejewscki, Anthony A.
Nahavandi, Saeid
Journal name Advanced robotics
Volume number 27
Issue number 2
Start page 81
End page 92
Total pages 12
Publisher Taylor & Francis
Place of publication London, Eng.
Publication date 2013
ISSN 0169-1864
1568-5535
Keyword(s) assistive robots
fault tolerant robots
redundant robots
reliability
workspace analysis
Summary There are many applications for which reliable and safe robots are desired. For example, assistant robots for disabled or elderly people and surgical robots are required to be safe and reliable to prevent human injury and task failure. However, different levels of safety and reliability are required for different tasks so that understanding the reliability of robots is paramount. Currently, it is possible to guarantee the completion of a task when the robot is fault tolerant and the task remains in the fault-tolerant workspace (FTW). The traditional definition of FTW does not consider different reliabilities for the robotic manipulator's different joints. The aim of this paper is to extend the concept of a FTW to address the reliability of different joints. Such an extension can offer a wider FTW while maintaining the required level of reliability. This is achieved by associating a probability with every part of the workspace to extend the FTW. As a result, reliable fault-tolerant workspaces (RFTWs) are introduced by using the novel concept of conditional reliability maps. Such a RFTW can be used to improve the performance of assistant robots while providing the confidence that the robot remains reliable for completion of its assigned tasks. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan.
Language eng
DOI 10.1080/01691864.2012.703302
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2013, Taylor & Francis
Persistent URL http://hdl.handle.net/10536/DRO/DU:30050988

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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