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Designing optimal fault tolerant Jacobian for robotic manipulators

Abdi, Hamid and Nahavandi, Saeid 2010, Designing optimal fault tolerant Jacobian for robotic manipulators, in AIM 2010 : IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, Piscataway, N. J., pp. 426-431.

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Title Designing optimal fault tolerant Jacobian for robotic manipulators
Author(s) Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Conference name Advanced Intelligent Mechatronics. Conference (2010 : Montreal, Canada)
Conference location Montreal, Canada
Conference dates 6-9 July 2010
Title of proceedings AIM 2010 : IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Editor(s) [Unknown]
Publication date 2010
Conference series Advanced Intelligent Mechatronics Conference
Start page 426
End page 431
Total pages 6
Publisher IEEE
Place of publication Piscataway, N. J.
Keyword(s) serial link manipulator
optimal fault tolerant
optimal Jacobian
relative manipulability
dexterity
Summary 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.
Notes This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
ISBN 9781424480302
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
HERDC collection year 2010
Copyright notice ©2010, IEEE
Free to Read? Yes
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031138

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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.