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Graduate Exam Abstract


Khaled Ben-Gharbia

Ph.D. Final

September 8, 2014, 3:00 pm - 5:00 pm

B214 - Dean's 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. It also considers 4R spatial positioning manipulators and 7R spatial manipulators. It has been shown in each case that multiple different physical robot kinematic designs can be obtained from (essentially) a single Jacobian that has desirable fault tolerant properties.

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.

K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "Kinematic design of redundant robotic manipulators for spatial positioning that are optimally fault tolerant," IEEE Transactions on Robotics, Vol. 29, No. 5, pp. 1300-1307, Oct. 2013. K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "A kinematic analysis and evaluation of planar robots designed from optimally fault-tolerant Jacobians," IEEE Transactions on Robotics, Vol. 30, No. 2, pp. 516-524, April 2014.

K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "An Example of a Seven Joint Manipulator Optimized for Kinematic Fault Tolerance," accepted to appear in IEEE International Conference on Systems, Man, and Cybernetics, pp. XXX-XXX, San Diego, CA, Oct. 5-8, 2014.

P. S. Naik, A. A. Maciejewski, R. G. Roberts, R. C. Hoover, and K. Ben-Gharbia "An Example of Computing the Failure-Tolerant Workspace Area for a Planar Kinematically Redundant Robot," Ninth IEEE International Conference on Automation Science and Engineering (CASE 2013), pp. 312-317, Madison, WI, August 17-21, 2013.

R. C. Hoover,R. G. Roberts, A. A. Maciejewski, P. S. Naik, and K. M. Ben-Gharbia, "Designing a Failure-Tolerant Workspace for Kinematically Redundant Robots," accepted to appear in IEEE Transactions on Automation Science and Engineering. Vol. XX, No. X, pp. XXX-XXX, Xxx. 2014.


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