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A class of optimal fault tolerant Jacobian for minimal redundant manipulators based on symmetric geometries
conference contributionposted on 2011-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Saeid NahavandiSaeid Nahavandi, Yakov Frayman
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.
EventIEEE International Conference of Systems, Man, and Cybernetics (2011 : Anchorage, Alaska)
Pagination1532 - 1537
Place of publicationPiscataway, N. J.
Publication classificationE1 Full written paper - refereed
Copyright notice2011, IEEE
Title of proceedingsSMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and Cybernetics
column vectorfault tolerant manipulatorsfault-tolerantgeometric propertiesjacobiansjoint failuremanipulabilitynull spaceoptimalitysymmetric distributionssymmetric geometryScience & TechnologyTechnologyComputer Science, Artificial IntelligenceComputer Science, CyberneticsComputer Science, Information SystemsComputer ScienceDESIGNDEXTERITYISOTROPY