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Graduate Exam Abstract


Khaled Ben-Gharbia

Ph.D. Preliminary

January 15, 2013, 10:00 AM

ECE Conference Room

Kinematic Design of Redundant Robotic Manipulators that are Optimally Fault Tolerant


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 and for 4R spatial positioning manipulators.

Adviser: Anthony A. Maciejewski
Co-Adviser: N/A
Non-ECE Member: Iuliana Oprea, Math
Member 3: Edwin Chong, ECE
Addional Members: Rodney Roberts, ECE Florida A&M - Florida State University

Publications:
K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "An illustration of generating robots from optimal fault-tolerant Jacobians," 15th IASTED International Conference on Robotics andApplications, pp. 453-460, Cambridge, MA, Nov. 1-3, 2010.

K. M. Ben-Gharbia, R. G. Roberts, and A. A. Maciejewski, ``Examples of planar robot kinematic designs from optimally fault-tolerant Jacobians,'' IEEE International Conference on Robotics and Automation , pp. 4710-4715, Shanghai, China, May 9-13, 2011.

K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "Examples of spatial positioning redundant robotic manipulators that are optimally fault tolerant," IEEE International Conference on Systems, Man, and Cybernetics, pp. 1526-1531, Anchorage, Alaska, Oct. 9-12, 2011.


Program of Study:
ECE514
MATH560
ECE520
ECE555
ECE611
ECE666
N/A
N/A