Optimal Fault-tolerant Jacobian Matrix Generators for Redundant Manipulators

摘要：

The design of locally optimal fault-tolerant manipulators has been previously addressed via adding constraints on the bases of a desired null space to the design constraints of the manipulators. Then by algebraic or numeric solution of the design equations, the optimal Jacobian matrix is obtained. In this study, an optimal fault-tolerant Jacobian matrix generator is introduced from geometric properties instead of the null space properties. The proposed generator provides equally fault-tolerant Jacobian matrices in R3 that are optimally faulttolerant for one or two locked joint failures. It is shown that the proposed optimal Jacobian matrices are directly obtained via regular pyramids. The geometric approach and zonotopes are used as a novel tool for determining relative manipulability in the context of fault-tolerant robotics and for bringing geometric insight into the design of optimal fault-tolerant manipulators.

作者: Hamid Abdi Saeid Nahavandi Anthony A. Maciejewski

作者单位: Electrical and Computer Centre for Intelligent Systems Research (CISR),Deakin University,Waurn Ponds Intelligent Systems Research,Deakin University,Waurn Ponds Campus VIC 3217,Australia Electrical and Computer Engineering Department,Colorado State University,Fort Collins,CO 80523

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: 4688-4693

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）