An example of a seven joint manipulator optimized for kinematic fault tolerance

Ben-Gharbia, Khaled M.; Maciejewski, Anthony A.; Roberts, Rodney G.

doi:10.1109/smc.2014.6974009

Cited by 5 publications

(4 citation statements)

References 36 publications

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“…For the case of a seven degree-of-freedom manipulator operating in a six dimensional task space, one example of a Jacobian that is very close to an optimally failure tolerant configuration is given by [19]: …”

Section: Background On Optimally Fault-tolerant Jacobiansmentioning

confidence: 99%

“…To evaluate the total workspace one can use the algorithm in [19] to calculate the three-and six-dimensional workspaces. Fig.…”

Section: A Fault Tolerant Workpace Identificationmentioning

confidence: 99%

“…Fig. 3 illustrates the algorithm where one needs to evaluate the maximum of K at every point, i.e., a position and an orientation, and each position has associated with it its own orientation volume [19]. (In this work, a point is chosen to be fault tolerant if its maximum K > 0.2).…”

Section: A Fault Tolerant Workpace Identificationmentioning

confidence: 99%

“…This is acceptable for pick and place tasks. The total three-dimensional volume is at its maximum value, i.e., a sphere with a volume of 4 3 πR 3 max , where the maximum reach R max = 5.1 m. The total six-dimensional workspace is 49% of the maximum six-dimensional volume, i.e., 4 3 πR 3 max · π 2 [19]. Fig.…”

Section: B Fault Tolerant Point-to-point Motionmentioning

confidence: 99%

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Modifying the kinematic structure of an anthropomorphic arm to improve fault tolerance

Ben-Gharbia

Maciejewski

Roberts

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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It is well known that anthropomorphic manipulators, such as the PA-10, are intolerant to a single locked joint failure of the elbow. This is because the elbow is the only joint that can change the distance between the spherical shoulder joint and the spherical wrist. In this work, it is shown how such arms can be made significantly more fault tolerant by a minor modification to the kinematic structure of the arm. We quantify the degree of fault tolerance to locked joint failures as the minimum of the smallest singular value of the resulting seven Jacobians over all possible single failures. The DH parameters for the modified arm are designed so that the corresponding fault tolerant properties are close to those of a robot with an optimally failure tolerant Jacobian. The fault tolerance of the designed robot is evaluated for two different classes of applications, i.e., point-to-point motions and specified end-effector trajectories.Index Terms-redundant robots, robot kinematics, faulttolerant robots.

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Section: Background On Optimally Fault-tolerant Jacobiansmentioning

confidence: 99%

“…To evaluate the total workspace one can use the algorithm in [19] to calculate the three-and six-dimensional workspaces. Fig.…”

Section: A Fault Tolerant Workpace Identificationmentioning

confidence: 99%

Section: A Fault Tolerant Workpace Identificationmentioning

confidence: 99%

Section: B Fault Tolerant Point-to-point Motionmentioning

confidence: 99%

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