Characterizing the self-motion manifolds of redundant robots of arbitrary kinematic structures
Robot fault tolerance measures can be classified into two categories: 1) Local measures that are based on the singular value decomposition (SVD) of the robot Jacobian, and 2) Global measures that are suitable to quantify the fault tolerance more effectively in pick-and-place applications. One can use the size of the self-motion manifold of a robot as a global fault-tolerance measure. The size of the self-motion manifold at a certain end-effector location can be simply the sum of the range of the joint angles of a robot at that location. This work employs the fact that the largest self-motion ...
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