ICRA 2011 Paper Abstract


Paper ThA109.5

Ben-Gharbia, Khaled (Colorado State University), Roberts, Rodney (Florida State University), Maciejewski, Anthony A. (Colorado State University)

Examples of Planar Robot Kinematic Designs from Optimally Fault-Tolerant Jacobians

Scheduled for presentation during the Regular Sessions "Redundant Robots" (ThA109), Thursday, May 12, 2011, 09:20−09:35, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Redundant Robots, Kinematics


It is common practice to design a robotís kinematics from the desired properties that are locally specified 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. Fault tolerance in this case is defined 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.



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