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

摘要：

It is common practice to design a robots kinematics from the desired properties that are locally speci.ed 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 de.ned 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.

关键词： redundant robots robot kinematics faulttolerant robots

作者: Khaled M. Ben-Gharbia Rodney G. Roberts Anthony A. Maciejewski

作者单位: Electrical and Computer Eng. Colorado State University Fort Collins,CO 80523 Electrical and Computer Eng. Florida A & M - Florida State Univ. Tallahassee,FL 32310

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4710-4715

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）