TY - GEN
T1 - Designing equally fault-tolerant configurations for kinematically redundant manipulators
AU - Roberts, Rodney G.
AU - Siddiqui, Salman A.
AU - Maciejewski, Anthony A.
N1 - IEEE Xplore, delivering full text access to the world's highest quality technical literature in engineering and technology. | IEEE Xplore
PY - 2009/3/27
Y1 - 2009/3/27
N2 - 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.
AB - 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.
UR - https://ieeexplore.ieee.org/document/4806831
U2 - 10.1109/SSST.2009.4806831
DO - 10.1109/SSST.2009.4806831
M3 - Conference article
SN - 9781424433254
T3 - Proceedings of the Annual Southeastern Symposium on System Theory
SP - 335
EP - 339
BT - 2009 41st Southeastern Symposium on System Theory Proceedings
T2 - 2009 41st Southeastern Symposium on System Theory, SSST
Y2 - 15 March 2009 through 17 March 2009
ER -