Khaled Ben-Gharbia
Ph.D. PreliminaryJan 15, 2013, 10:00 AM
ECE 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 and for 4R spatial
positioning manipulators.
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
positioning manipulators.
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
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, "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
ECE514
MATH560
ECE520
ECE555
ECE611
ECE666
N/A
N/A