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Optimal fault-tolerant robotic manipulators

Abdi, Hamid 2011, Optimal fault-tolerant robotic manipulators, Ph.D. thesis, Intelligent Systems Research Group, Deakin University.

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Title Optimal fault-tolerant robotic manipulators
Author Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Institution Deakin University
School Intelligent Systems Research Group
Faculty Faculty of Science and Technology
Degree type Research doctorate
Degree name Ph.D.
Thesis advisor Nahavandi, Saeid
Date submitted 2011-09
Summary This thesis addresses “Optimal Fault-Tolerant Robotic Manipulators” for locked-joint failures and consists of three components. It begins by investigating the regions of workspace where the manipulator can operate with high reliability. It then continues with an efficient deployment of kinematic redundancies for fault-tolerant operation. Finally, it presents a novel method for design of optimal fault-tolerant manipulators.
Language eng
Socio Economic Objective 970108 Expanding Knowledge in the Information and Computing Sciences
Description of original 158 p.
Copyright notice ┬ęThe author
Persistent URL http://hdl.handle.net/10536/DRO/DU:30043111

Document type: Thesis
Collections: Higher degree theses (full text)
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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.