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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 Maciejewski
The 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 - 4693

Publisher

IEEE

Location

Shanghai, China

Place of publication

[Shanghai, China]

Start date

2011-05-09

End date

2011-05-13

ISSN

1050-4729

ISBN-13

9781612843865

Language

eng

Publication classification

E1 Full written paper - refereed

Copyright notice

2011, IEEE

Title of proceedings

ICRA 2011 : IEEE International Conference on Robotics and Automation : Better Robots, Better Life