Contribution to Book
Designing equally fault-tolerant configurations for kinematically redundant manipulators
2009 41st Southeastern Symposium on System Theory Proceedings
(2009)
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.
Disciplines
Publication Date
March 27, 2009
Publisher
IEEE
ISBN
978-1-4244-3324-7
DOI
10.1109/SSST.2009.4806831
Publisher Statement
Copyright and Permissions
Citation Information
Rodney G. Roberts, Salman A Siddiqui and Anthony A. Maciejewski. "Designing equally fault-tolerant configurations for kinematically redundant manipulators" Tullahoma, TN2009 41st Southeastern Symposium on System Theory Proceedings (2009) Available at: http://works.bepress.com/salman-siddiqui/8/