A class of optimal fault tolerant Jacobian for minimal redundant manipulators based on symmetric geometries

Abdi, Hamid, Nahavandi, Saeid and Frayman, Yakov 2011, A class of optimal fault tolerant Jacobian for minimal redundant manipulators based on symmetric geometries, in SMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and Cybernetics, IEEE, Piscataway, N. J., pp. 1532-1537.

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Title A class of optimal fault tolerant Jacobian for minimal redundant manipulators based on symmetric geometries
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
Frayman, Yakov
Conference name IEEE International Conference of Systems, Man, and Cybernetics (2011 : Anchorage, Alaska)
Conference location Anchorage, Alaska
Conference dates 9-12 Oct. 2011
Title of proceedings SMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and Cybernetics
Editor(s) [Unknown]
Publication date 2011
Conference series IEEE International Conference of Systems, Man, and Cybernetics
Start page 1532
End page 1537
Total pages 6
Publisher IEEE
Place of publication Piscataway, N. J.
Keyword(s) column vector
fault tolerant manipulators
fault-tolerant
geometric properties
jacobians
joint failure
manipulability
null space
optimality
symmetric distributions
symmetric geometry
Summary Design of locally optimal fault tolerant manipulators has been recently addressed via using the constraints of the desired null space for the Jacobian matrix of the manipulators. In the present paper the Jacobian matrices for optimal fault tolerance are presented based on geometric properties of column vectors instead of the null space. They are equally fault tolerant to a single joint failure from the worst-case relative manipulability and worst-case dexterity points of view. The optimality is achieved through a symmetric distribution of points on spheres.
ISBN 1457706520
9781457706523
ISSN 1062-922X
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
Copyright notice ©2011, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30042216

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