Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: On the existence of an optimally failure tolerant 7R manipulator Jacobian
Współtwórca:
Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Podtytuł:
Mathematical Methods in Robotics
Tytuł publikacji grupowej:
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Identyfikator zasobu:
Strony:
Źródło:
AMCS, volume 5, number 2 (1995) ; click here to follow the link
Jezyk:
Licencja CC BY 4.0:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1995)
Last modified:
Jul 14, 2025
In our library since:
Sep 21, 2020
Number of object content hits:
124
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64261
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Show description in OAI-PMH format:
| Edition name | Date |
|---|---|
| On the existence of an optimally failure tolerant 7R manipulator Jacobian | Jul 14, 2025 |
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