Creator:
Maciejewski, Anthony A. ; Roberts, Rodney G.
Contributor:
Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Title:
On the existence of an optimally failure tolerant 7R manipulator Jacobian
Subtitle:
Mathematical Methods in Robotics
Group publication title:
Subject and Keywords:
sterowanie ; sterowanie-teoria ; sztuczna inteligencja ; matematyka stosowana ; informatyka
Abstract:
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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Date:
Resource Type:
Pages:
Source:
AMCS, volume 5, number 2 (1995) ; click here to follow the link