An Illustration of Generating Robots from Optimal Fault-Tolerant Jacobians

K.M. Ben-Gharbia, A.A. Maciejewski, and R.G. Roberts (USA)


Robotics, robot design and architecture, fault-tolerant robots, redundant robots.


The local kinematic properties of a robotic manipulator’s configuration can be described by its corresponding Jaco bian matrix. Conversely, one can determine a manipula tor that possesses certain desirable kinematic properties by specifying the required Jacobian. In this work, design cri teria that require a manipulator to function in a configu ration that is optimal under normal operation and after an arbitrary single joint fails and is locked in position is first described. Specifically, the desired Jacobian matrix must be isotropic, i.e., possess all equal singular values prior to a failure, and have equal minimum singular values for ev ery possible single column being removed. Then a simple planar three degree-of-freedom example is used to illus trate how one can identify all of the possible manipulator designs that possess the desired local properties described by the required structure of the Jacobian matrix. This pa per concludes by showing that despite having identical lo cal properties, the resulting manipulator designs have sig nificantly different global kinematic properties that can be used to match a design to additional application-specific performance criteria.

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