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A class of optimal fault tolerant Jacobian for minimal redundant manipulators based on symmetric geometries

conference contribution
posted on 2011-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Saeid Nahavandi, Yakov Frayman
Design of locally optimal fault tolerant manipulators has been recently addressed via using the constraints of the desired null space for the Jacobian matrix of the manipulators. In the present paper the Jacobian matrices for optimal fault tolerance are presented based on geometric properties of column vectors instead of the null space. They are equally fault tolerant to a single joint failure from the worst-case relative manipulability and worst-case dexterity points of view. The optimality is achieved through a symmetric distribution of points on spheres.

History

Event

IEEE International Conference of Systems, Man, and Cybernetics (2011 : Anchorage, Alaska)

Pagination

1532 - 1537

Publisher

IEEE

Location

Anchorage, Alaska

Place of publication

Piscataway, N. J.

Start date

2011-10-09

End date

2011-10-12

ISSN

1062-922X

ISBN-13

9781457706523

ISBN-10

1457706520

Language

eng

Publication classification

E1 Full written paper - refereed

Copyright notice

2011, IEEE

Title of proceedings

SMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and Cybernetics