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    Kinematic design of redundant robotic manipulators that are optimally fault tolerant

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    http://hdl.handle.net/10217/88414
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    BenGharbia_colostate_0053A_12775.pdf (4.696Mb)
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    Abstract
    It is common practice to design a robot's kinematics from the desired properties that are locally specified by a manipulator Jacobian. Conversely, one can determine a manipulator that possesses certain desirable kinematic properties by specifying the required Jacobian. For the case of optimality with respect to fault tolerance, one common definition is that the post-failure Jacobian possesses the largest possible minimum singular value over all possible locked-joint failures. This work considers Jacobians that have been designed to be optimally fault tolerant for 3R and 4R planar manipulators. ...
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    Author(s)
    Ben-Gharbia, Khaled M.

    Advisor(s)
    Maciejewski, Anthony A.

    Date Issued
    2014
    Format
    born digital; doctoral dissertations
    Collections
    • 2000-2019 - CSU Theses and Dissertations
    • Theses and Dissertations - Department of Electrical and Computer Engineering

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