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On the existence of an optimally failure tolerant 7R manipulator Jacobian

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dc.contributor.authorRoberts, Rodney G., author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorTechnical University of Zielona Góra, publisher
dc.date.accessioned2007-01-03T08:09:31Z
dc.date.available2007-01-03T08:09:31Z
dc.date.issued1995
dc.description.abstractKinematically 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.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationMaciejewski, Anthony A. and Rodney G. Roberts, On the Existence of an Optimally Failure Tolerant 7R Manipulator Jacobian, Applied Mathematics and Computer Science 5, no. 2 (1995): 343-357.
dc.identifier.urihttp://hdl.handle.net/10217/67348
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1995 Technical University of Zielona Góra.
dc.rightsCopyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.
dc.subjectrotational manipulators
dc.subjectrobotic systems
dc.subjectfailure tolerance
dc.titleOn the existence of an optimally failure tolerant 7R manipulator Jacobian
dc.typeText

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