Dexterity measures for the design and control of kinematically redundant manipulators
International Journal of Robotics Research
The design of isotropic manipulator architectures in the presence of redundancies
International Journal of Robotics Research
Dexterity optimization of kinematically redundant manipulators in the presence of joint failures
Computers and Electrical Engineering
Designing fault-tolerant manipulators: how many degrees of freedom?
International Journal of Robotics Research
Global trajectory planning for fault tolerant manipulators
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
Convex Optimization
Fault identification for robot manipulators
IEEE Transactions on Robotics
Fundamental Limitations on Designing Optimally Fault-Tolerant Redundant Manipulators
IEEE Transactions on Robotics
Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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Fault-tolerant motion of redundant manipulators can be obtained by joint velocity reconfiguration. For fault-tolerant manipulators, it is beneficial to determine the configurations that can tolerate the locked-joint failures with a minimum relative joint velocity jump, because the manipulator can rapidly reconfigure itself to tolerate the fault. This paper uses the properties of the condition numbers to introduce those optimal configurations for serial manipulators. The relationship between the manipulator's locked-joint failures and the condition number of the Jacobian matrix is indicated by using a matrix perturbation methodology. Then, it is observed that the condition number provides an upper bound of the required relative joint velocity change for recovering the faults which leads to define the optimal fault-tolerant configuration from the minimization of the condition number. The optimization problem to obtain the minimum condition number is converted to three standard Eigen value optimization problems. A solution is for selected optimization problem is presented. Finally, in order to obtain the optimal fault-tolerant configuration, the proposed method is applied to a 4-DoF planar manipulator.