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Graduate Exam Abstract


Biyun Xie

Ph.D. Final
July 9, 2019, 2:00 pm - 4:00 pm
ECE Conference Room C101 B
Kinematic Design and Motion Planning of Fault Tolerant Robots with Locked Joint Failures

Abstract: The problem of kinematic
design and motion planning
of fault tolerant robots with
locked joint failure is studied
in this work. In kinematic
design, the problem of
designing optimally fault
tolerant robots for equal joint
failure probabilities is first
explored. A family of
optimally fault tolerant 7R
robots has previously been
designed to optimize a
measure of local fault
tolerance. In this work, the
structure and global pre- and
post-failure dexterity
performance of this family of
robots are further explored.
The characteristics of the
kinematic properties,
described by Denavit and
Hartenberg parameters, of
these robots are analyzed,
and used to illustrate the
structural correlations
between these robots. In
addition, the global pre- and
post- failure dexterity
performance of these robots
are studied and the optimal
robot designs are obtained.
Then, the problem of
designing optimally fault
tolerant robots for different
joint failure probabilities is
considered. A measure of
fault tolerance for different
joint failure probabilities is
defined based on the
properties of the singular
values of the Jacobian after
failures. Using this measure,
methods to design optimally
fault tolerant robots for an
arbitrary set of joint failure
probabilities and multiple
cases of joint failure
probabilities are introduced
separately. After the optimally
fault toelrant robots are
designed, the problem of
planning the optimal
trajectory with minimum
probability of task failure for a
set of point-to-point tasks,
after experiencing locked
joint failures, is studied. The
proposed approach first
develops a method to
calculate the probability of
task failure for an arbitrary
trajectory, where the
trajectory is divided into small
segments, and the probability
of task failure of each
segment is calculated based
on its failure scenarios. Then,
a motion planning algorithm
is proposed to find the
optimal trajectory with
minimum probability of task
failure.


Adviser: Anthony A. Maciejewski
Co-Adviser: NA
Non-ECE Member: Jingguo Zhao, mechanical engineering
Member 3: Edwin K P Chong, Electrical and Computer Engineering
Addional Members: Ali Pezeshki, Electrical and Computer Engineering

Publications:
[1] B. Xie and A. A. Maciejewski, "Kinematic design of optimally fault tolerant robots for different joint failure probabilities," IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 827-834, 2018.

[2] B. Xie and A. A. Maciejewski, "Structure and performance analysis of the 7! robots generated from an optimally fault tolerant Jacobian," IEEE Robotics and Automation Letters, vol. 2, no. 4, pp. 1956-1963, 2017.


Program of Study:
ECE555
ECE666
ECE611
MATH560
MATH561
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