Just because Frodo feels like a failure does not mean he failed. His goal, of course, was to cast the Ring into the fire, but that was an impossible task. He was to go as far as he was able, and he did. He went as far as he possibly could, until he had no will left in the matter.
Frodo did not fail, and if he did sin, he cannot be blamed for it. I do not think that at Sammath Naur, Frodo sins. He had no resistance left. He had resisted and resisted, as he had ever since Bilbo had given him the Ring. But the Ring had been gnawing at his mind ever since then, and in my mind Frodo succeeded.
I do think that Frodo sinned by still desiring it, though perhaps because of the manner in which it was wrested from him, that could not be helped. I think that the phrase "all is dark and empty" is not a part of Frodo's sin, because the Ring had been his all for so long, the only thing that mattered to him, and he had nothing to replace it with. Frodo was at peace, but he was still in a lot of pain.
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