Synthesis Methodology for Task Based Reconfiguration
of Modular Manipulator Systems
Abstract: In this paper, we deal with two important issues in
relation to modular reconfigurable manipulators, namely, the determination
of the modular assembly configuration optimally suited to perform a specific
task and the synthesis of fault tolerant systems. We present a numerical
approach yielding an assembly configuration that satisfies four kinematic
task requirements: reachability, joint limits, obstacle avoidance and
measure of isotropy. Further, because fault tolerance is a must in critical
missions that may involve high costs if the mission were to fail due to a
failure in the manipulator system, we address the property of fault
tolerance in more detail. Initially, no joint limits are considered, in
which case we prove the existence of fault tolerant manipulators and develop
an analysis tool to determine the fault tolerant work space. We also derive
design templates for spatial fault tolerant manipulators. When joint limits
are introduced, analytic solutions become infeasible but instead a numerical
solution procedure can be used, as is illustrated through an example.
Proceedings of the Sixth International Symposium on Robotics Research,
Hidden Valley, PA, October 2-5, 1993.
paredis@cmu.edu