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
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