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Optimal fault tolerant Jacobian matrix generators for redundant manipulators
conference contribution
posted on 2011-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Saeid Nahavandi, A MaciejewskiThe design of locally optimal fault-tolerant manipulators has been previously addressed via adding constraints on the bases of a desired null space to the design constraints of the manipulators. Then by algebraic or numeric solution of the design equations, the optimal Jacobian matrix is obtained. In this study, an optimal fault-tolerant Jacobian matrix generator is introduced from geometric properties instead of the null space properties. The proposed generator provides equally fault-tolerant Jacobian matrices in R3 that are optimally fault tolerant for one or two locked joint failures. It is shown that the proposed optimal Jacobian matrices are directly obtained via regular pyramids. The geometric approach and zonotopes are used as a novel tool for determining relative manipulability in the context of fault-tolerant robotics and for bringing geometric insight into the design of optimal fault-tolerant manipulators.
History
Event
IEEE International Conference of Robotics and Automation (2011 : Shanghai, China)Pagination
4688 - 4693Publisher
IEEELocation
Shanghai, ChinaPlace of publication
[Shanghai, China]Publisher DOI
Start date
2011-05-09End date
2011-05-13ISSN
1050-4729ISBN-13
9781612843865Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2011, IEEETitle of proceedings
ICRA 2011 : IEEE International Conference on Robotics and Automation : Better Robots, Better LifeUsage metrics
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