Optimal fault tolerant Jacobian matrix generators for redundant manipulators

Abdi, Hamid, Nahavandi, Saeid and Maciejewski, Anthony A. 2011, Optimal fault tolerant Jacobian matrix generators for redundant manipulators, in ICRA 2011 : IEEE International Conference on Robotics and Automation : Better Robots, Better Life, IEEE, [Shanghai, China], pp. 4688-4693, doi: 10.1109/ICRA.2011.5979802.

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Title Optimal fault tolerant Jacobian matrix generators for redundant 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
Maciejewski, Anthony A.
Conference name IEEE International Conference of Robotics and Automation (2011 : Shanghai, China)
Conference location Shanghai, China
Conference dates 9 -13 May 2011
Title of proceedings ICRA 2011 : IEEE International Conference on Robotics and Automation : Better Robots, Better Life
Editor(s) [Unknown]
Publication date 2011
Conference series IEEE International Conference of Robotics and Automation
Start page 4688
End page 4693
Total pages 6
Publisher IEEE
Place of publication [Shanghai, China]
Keyword(s) fault tolerance
fault tolerant systems
generators
geometry
jacobian matrices
joints
manipulators
Summary 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.
ISBN 9781612843865
ISSN 1050-4729
Language eng
DOI 10.1109/ICRA.2011.5979802
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:30042230

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