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Designing optimal fault tolerant Jacobian for robotic manipulators
conference contribution
posted on 2010-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Saeid NahavandiFault tolerance of robotic manipulators is determined based on the fault tolerance measures. In this study a Jacobian of a 7DOF optimal fault tolerant manipulator is designed based on optimality of worse case relative manipulability and worse case dexterity from geometric perspective instead of numerical solution of constrained optimisation problem or construction of optimal Jacobean through a desired null space. The proposed Jacobean matrix is optimal and equally fault tolerant for a single joint failure within any joint of the manipulators.
History
Event
Advanced Intelligent Mechatronics. Conference (2010 : Montreal, Canada)Pagination
426 - 431Publisher
IEEELocation
Montreal, CanadaPlace of publication
Piscataway, N. J.Start date
2010-07-06End date
2010-07-09ISBN-13
9781424480302Language
engNotes
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E1 Full written paper - refereedCopyright notice
2010, IEEETitle of proceedings
AIM 2010 : IEEE/ASME International Conference on Advanced Intelligent MechatronicsUsage metrics
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