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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 Nahavandi
Fault 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 - 431

Publisher

IEEE

Location

Montreal, Canada

Place of publication

Piscataway, N. J.

Start date

2010-07-06

End date

2010-07-09

ISBN-13

9781424480302

Language

eng

Notes

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Publication classification

E1 Full written paper - refereed

Copyright notice

2010, IEEE

Title of proceedings

AIM 2010 : IEEE/ASME International Conference on Advanced Intelligent Mechatronics