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Kinematic Design of Redundant Robotic Manipulators for Spatial Positioning that are Optimally Fault Tolerant

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3 Author(s)
Ben-Gharbia, K.M. ; Dept. of Electr. & Comput. Eng., Colorado State Univ., Fort Collins, CO, USA ; Maciejewski, A.A. ; Roberts, R.G.

This work presents a method for identifying all the kinematic designs of spatial positioning manipulators that are optimally fault tolerant in a local sense. We use a common definition of fault tolerance, i.e., the post-failure Jacobian possesses the largest possible minimum singular value over all possible single locked-joint failures. The large family of physical manipulators that can achieve this optimally failure tolerant configuration is then parameterized and categorized. We develop a general computational technique to evaluate the resulting manipulators in terms of their global kinematic properties, with an emphasis on failure tolerance. Several manipulators with a range of desirable kinematic properties are presented and analyzed, with a specific example of optimizing over a given class of manipulators that possess a specified kinematic constraint.

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Robotics, IEEE Transactions on  (Volume:29 ,  Issue: 5 )