Well-conditioned configurations of fault-tolerant manipulators

Abdi, Hamid and Nahavandi, Saeid 2012, Well-conditioned configurations of fault-tolerant manipulators, Robotics and autonomous systems, vol. 60, no. 2, pp. 242-251.

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Title Well-conditioned configurations of fault-tolerant 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
Journal name Robotics and autonomous systems
Volume number 60
Issue number 2
Start page 242
End page 251
Total pages 10
Publisher Elsevier
Place of publication Amsterdam, The Netherlands
Publication date 2012-02
ISSN 0921-8890
Keyword(s) actuator failure
condition number
isotropic manipulators
optimal fault tolerance
redundant manipulators
singular value optimization
Summary Fault-tolerant motion of redundant manipulators can be obtained by joint velocity reconfiguration. For fault-tolerant manipulators, it is beneficial to determine the configurations that can tolerate the locked-joint failures with a minimum relative joint velocity jump, because the manipulator can rapidly reconfigure itself to tolerate the fault. This paper uses the properties of the condition numbers to introduce those optimal configurations for serial manipulators. The relationship between the manipulator's locked-joint failures and the condition number of the Jacobian matrix is indicated by using a matrix perturbation methodology. Then, it is observed that the condition number provides an upper bound of the required relative joint velocity change for recovering the faults which leads to define the optimal fault-tolerant configuration from the minimization of the condition number. The optimization problem to obtain the minimum condition number is converted to three standard Eigen value optimization problems. A solution is for selected optimization problem is presented. Finally, in order to obtain the optimal fault-tolerant configuration, the proposed method is applied to a 4-DoF planar manipulator.
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2011, Elsevier
Persistent URL http://hdl.handle.net/10536/DRO/DU:30044174

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