NDLI: Examples of planar robot kinematic designs from optimally fault-tolerant Jacobians

Content Provider	IEEE Xplore Digital Library
Author	Ben-Gharbia, K.M. Roberts, R.G. Maciejewski, A.A.
Copyright Year	2011
Description	Author affiliation: Electrical and Computer Eng., Florida A & M - Florida State Univ., Tallahassee, 32310, USA (Roberts, R.G.) \|\| Electrical and Computer Eng., Colorado State University, Fort Collins, 80523, USA (Ben-Gharbia, K.M.; Maciejewski, A.A.)
Abstract	It is common practice to design a robot's kinematics from the desired properties that are locally specified by a manipulator Jacobian. It has been recently shown that multiple different physical robot kinematic designs can be obtained from (essentially) a single Jacobian that has desirable fault tolerant properties [1]. Fault tolerance in this case is defined as the post-failure Jacobian possessing the largest possible minimum singular value over all possible locked-joint failures. In this work, a mathematical analysis that describes the number of possible planar robot designs for optimally fault-tolerant Jacobians is presented. Two examples, one that is optimal to a single joint failure and the second that is optimal to two joint failures, are discussed. The paper concludes by illustrating some of the large variability in the global kinematic properties of these designs, despite being generated from the same Jacobian.
Starting Page	4710
Ending Page	4715
File Size	282343
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980297
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Manipulators Fault tolerance Fault tolerant systems Joints Transmission line matrix methods fault-tolerant robots redundant robots robot kinematics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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