Khaled Ben-Gharbia's PhD Thesis Publications

Serial Journal Articles:

  • PDF 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.

  • PDF 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.

  • PDF 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," IEEE Transactions on Automation Science and Engineering. Vol. 12, No. 4, pp. 1421-1432, Oct. 2015.

  • PDF K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "Kinematic design of manipulators with seven revolute joints optimized for fault tolerance," IEEE Transactions on Systems, Man, and Cybernetics. Vol. 46, No. 10, pp. 1364-1373, Oct.~2016.

    Conference Proceedings and Presentations:

  • PDF 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.

  • PDF 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.

  • PDF 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. (Finalist for Best Student Paper Award)

  • PDF 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.

  • PDF K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "An Example of a Seven Joint Manipulator Optimized for Kinematic Fault Tolerance," IEEE International Conference on Systems, Man, and Cybernetics, pp. 802-807, San Diego, CA, Oct. 5-8, 2014.

  • PDF K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "Modifying the Kinematic Structure of an Anthropomorphic Arm to Improve Fault Tolerance," IEEE International Conference on Robotics and Automation (ICRA2015), pp. 1455-1460, Seattle, WA, May 26-30, 2015.