Designing equally fault-tolerant configurations for kinematically redundant manipulators

Rodney G. Roberts; Salman A Siddiqui; Anthony A. Maciejewski

doi:10.1109/SSST.2009.4806831

Designing equally fault-tolerant configurations for kinematically redundant manipulators

Rodney G. Roberts, Salman A Siddiqui, Anthony A. Maciejewski

Electrical & Computer Engineering

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8 Scopus citations

Abstract

In this article, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault-tolerant to multiple joint failures. In this work, optimality is defined in terms of the worst case relative manipulability index. Building on previous work, it is shown that for a robot manipulator working in three-dimensional workspace to be equally fault-tolerant to any two simultaneous joint failures, the manipulator must have precisely six degrees of freedom. A corresponding family of Jacobians with this property is identified. It is also shown that the two-dimensional workspace problem has no such solution.

Original language	American English
Title of host publication	2009 41st Southeastern Symposium on System Theory Proceedings
DOIs	https://doi.org/10.1109/SSST.2009.4806831
State	Published - Mar 27 2009

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Electrical and Computer Engineering

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ER -

Designing equally fault-tolerant configurations for kinematically redundant manipulators

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