ECE555 - Advanced Robotics: Redundancy and Optimization


Topic Readings Programs
Review of Robot Simulation [1] Animate
Singular Value Decomposition [2]
Damped Least Squares [3],[4] 2D DLS
Obstacle Avoidance [5],[6] 2D Obstacle
Local Optimization of Redundancy [7],[8]
Repeatability [9]
Measures of Fault Tolerance [11][12]
Fault Tolerant Control [10][13][14]
Free-Swinging Failures [15]
Fault Tolerant Teleoperation [16]
Fault Tolerant Path Planning [17]
Fault Tolerant Workspaces [18]
Optimally Fault Tolerant Design (Planar/Spatial) [19],[20]
Optimally Fault Tolerant Design (6D) [21]


  • [1] A.A. Maciejewski and C. A. Klein, "SAM: Animation software for simulating articulated motion," Computers and Graphics: An International Journal, Vol. 9, No. 4, pp. 383-391, 1985.
  • [2] A.A. Maciejewski, "Dealing with the ill-conditioned equations of motion for articulated figures," IEEE Computer Graphics and Applications, Vol. 10, No. 3, pp. 63-71, May 1990.
  • [3] A.A. Maciejewski and C. A. Klein, "Numerical filtering for the operation of robotic manipulators through kinematically singular configurations," Journal of Robotic Systems, Vol. 5, No. 6, pp. 527-552, December 1988.
  • [4] A.A. Maciejewski and C. A. Klein, "The singular value decomposition: Computation and applications to robotics," International Journal of Robotics Research, Vol. 8, No. 6, pp. 63-79, December 1989.
  • [5] A.A. Maciejewski and C. A. Klein, "Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments," International Journal of Robotics Research, Vol. 4, No. 3, pp. 109-117, Fall 1985.
  • [6] A. A. Maciejewski and J. J. Fox, "Path planning and the topology of configuration space," IEEE Transactions on Robotics and Automation, Vol. 9, No. 4, pp. 444-456, August 1993.
  • [7] A.A. Maciejewski, "Kinetic limitations on the use of redundancy in robotic manipulators," IEEE Transactions on Robotics and Automation, Vol. 7, No. 2, pp. 205-210, April 1991.
  • [8] J. D. English and A. A. Maciejewski, "On the implementation of velocity control for kinematically redundant manipulators," IEEE Transactions on Systems, Man, and Cybernetics, Vol. 30, No. 3, pp. 233-237, May 2000.
  • [9] R. G. Roberts and A. A. Maciejewski, "Calculation of repeatable control strategies for kinematically redundant manipulators," Journal of Intelligent and Robotic Systems, (Special Issue on Parallel and Redundant Robots with Applications), Vol. 14, No. 1, pp. 105-130, September 1995.
  • [10] C.L. Lewis and A. A. Maciejewski, "Dexterity optimization of kinematically redundant manipulators in the presence of failures," Computers and Electrical Engineering: An International Journal, (Special Issue on Fault Tolerant Robotics), Vol. 20, No. 3, pp. 273-288, May 1994.
  • [11] A.A. Maciejewski and R. G. Roberts, "On the existence of an optimally failure tolerant 7R manipulator Jacobian," Applied Mathematics and Computer Science, (Special Issue on Mathematical Methods in Robotics), Technical University Press, Zielona Gora, Poland, Vol. 5, No. 2, pp. 343-357, 1995.
  • [12] R. G. Roberts and A. A. Maciejewski, "A local measure of fault tolerance for kinematically redundant manipulators," IEEE Transactions on Robotics and Automation, Vol. 12, No. 4, pp. 543-553, August 1996.
  • [13] C.L. Lewis and A. A. Maciejewski, "Fault tolerant operation of kinematically redundant manipulators for locked joint failures," IEEE Transactions on Robotics and Automation , Vol. 13, No. 4, pp. 622-629, Aug. 1997.
  • [14] K. N. Groom, A. A. Maciejewski, and V. Balakrishnan, "Real-time failure tolerant control of kinematically redundant manipulators," IEEE Transactions on Robotics and Automation, Vol. 15, No. 6, pp. 1109-1116, Dec. 1999.
  • [15] J. D. English and A. A. Maciejewski, "Failure tolerance through active braking: A kinematic approach," International Journal of Robotics Research, Vol. 20, No. 4, pp. 287-299, April 2001.
  • [16] M. Goel, A. A. Maciejewski, V. Balakrishnan, and R. W. Proctor, "Failure tolerant teleoperation of a kinematically redundant manipulator: An experimental study," IEEE Transactions on Systems, Man, and Cybernetics Part A Systems and Humans vol. 33, No. 6, pp. 758-765, Nov. 2003.
  • [17] R. S. Jamisola, A. A. Maciejewski, and R. G. Roberts, "Failure-Tolerant Path Planning for Kinematically Redundant Manipulators Anticipating Locked-Joint Failures," IEEE Transactions on Robots, Vol. 22, No. 4, pp. 603-612, August 2006.
  • [18] 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.
  • [19] 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.
  • [20] 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.
  • [21] K. M. Ben-Gharbia, A. A. Maciejewski, and R. G. Roberts, "Kinematic design of manipulators with seven revolute joints optimized for fault tolerance," accepted to appear in IEEE Transactions on Systems, Man, and Cybernetics. Vol. XX, No. X, pp. xXX-xxx, Xxx. 20XX.

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