Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Mathematical Methods in Robotics
Kinematically redundant manipulators have been proposed for use in remote or hazardous environments due to their potential for tolerance to joint failures. This article defines a local measure of failure tolerance based on the worst-case dexterity following a locked joint failure. ; Optimal values of this measure are identified and related to the required structure of a Jacobian matrix. It is shown that it is trivial to derive manipulator configurations that correspond to the desired Jacobians with the single exception of a manipulator with seven rotational joints that is required to perform tasks which require fully general linear and rotational velocities of the end effector.
Zielona Góra: Uniwersytet Zielonogórski
AMCS, volume 5, number 2 (1995) ; kliknij tutaj, żeby przejść
Biblioteka Uniwersytetu Zielonogórskiego
2021-09-02
2020-09-21
61
https://zbc.uz.zgora.pl/publication/64261
Nazwa wydania | Data |
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On the existence of an optimally failure tolerant 7R manipulator Jacobian | 2021-09-02 |
Korbicz, Józef - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Beliczyński, Bartłomiej - red.