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A class of optimal fault tolerant Jacobian for minimal redundant manipulators based on symmetric geometries

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3 Author(s)
Hamid Abdi ; Centre for Intelligent Systems Research (CISR), Deakin University, Waurn Ponds Campus; VIC 3217, Australia ; Saeid Nahavandi ; Yakov Frayman

Design of locally optimal fault tolerant manipulators has been recently addressed via using the constraints of the desired null space for the Jacobian matrix of the manipulators. In the present paper the Jacobian matrices for optimal fault tolerance are presented based on geometric properties of column vectors instead of the null space. They are equally fault tolerant to a single joint failure from the worst-case relative manipulability and worst-case dexterity points of view. The optimality is achieved through a symmetric distribution of points on spheres.

Published in:

Systems, Man, and Cybernetics (SMC), 2011 IEEE International Conference on

Date of Conference:

9-12 Oct. 2011