A. A. Maciejewski's Research Work in Fault Tolerance for Kinematically Redundant Robots

Serial Journal Articles:

  • PDF 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.

  • PDF 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.

  • PDF 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.

  • PDF 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.

  • PDF J. D. English and A. A. Maciejewski, "Robotic workspaces after a free-swinging failure," Journal of Intelligent and Robotic Systems, Special Issue on Redundant Manipulators, Kluwer Academic Publishers, Vol. 19, No. 1, pp. 55-72, May 1997.

  • PDF J. D. English and A. A. Maciejewski, "Fault tolerance for kinematically redundant manipulators: Anticipating free-swinging joint failures," IEEE Transactions on Robotics and Automation, Vol. 14, No. 4, pp. 566-675, Aug. 1998.

  • PDF 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.

  • PDF J. D. English and A. A. Maciejewski, "Measuring and reducing the Euclidean-space measures of robotic joint failures," IEEE Transactions on Robotics and Automation, Vol. 16, No. 1, pp. 20-28, Feb. 2000.

  • PDF 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.

  • PDF 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.

  • PDF M. Goel, A. A. Maciejewski, and V. Balakrishnan, "Analyzing unidentified locked-joint failures in kinematically redundant manipulators," Journal of Robotic Systems , Vol. 22, No. 1, pp. 15-29, Jan. 2005.

  • PDF 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.

  • PDF R. G. Roberts, H. G. Yu, and A. A. Maciejewski, "Designing Optimally Fault-Tolerant Manipulators Based on Relative Manipulability Indices," IEEE Transactions on Robots. Vol. 24, No. 5, pp. 1224-1237, October 2008.

  • PDF H. Abdi, S. Nahavandi, Y. Frayman, and A. A. Maciejewski, "Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators," Robotica, Vol. 30, pp. 635-648, 2011.

  • PDF H. Abdi, A. A. Maciejewski, and S. Nahavandi, "Reliability maps for probabilistic guarantees of task motion for robotic manipulators," Advanced Robotics, Vol. 27, No. 2, pp. 81-92, 2013.

  • PDF H. Abdi, S. Nahavandi, Z. Najdovski, and A. A. Maciejewski, "Fault-Tolerant Force in Human and Robot Cooperation," International Journal of Social Robotics, Vol. 5, No. 1, pp. 103-116, 2013.

  • 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.

  • PDF M. Isaksson, K. Marlow, A. A. Maciejewski, and A. Eriksson, "Novel Fault-Tolerance Indices for Redundantly Actuated Parallel Robots," Journal of Mechanical Design, Vol. 139, No. 4, 10 pages, Jan. 2017.

  • PDF 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, Oct. 2017.

  • PDF 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, Apr. 2018.

  • PDF A. Almarkhi, and A. A. Maciejewski, "Maximizing the Size of Self-Motion Manifolds to Improve Robot Fault Tolerance," accepted to appear in IEEE Robotics and Automation Letters. Vol. X, No. X, pp. XXX-XXX, Xxx. 2019.

  • PDF A. M. Bader and A. A. Maciejewski, "Maximizing the faut-tolerant workspace area for planar redundant robotsl," accepted to appear in Mechanism and Machine Theory, Vol. X, No. X, pp. XXX-XXX, Xxx. 2019.

    Conference Proceedings and Presentations:

  • PDF A. A. Maciejewski, "Fault tolerant properties of kinematically redundant manipulators," in Proceedings 1990 IEEE International Conference on Robotics and Automation, pp. 638-642, Cincinnati, Ohio, May 13-18, 1990

  • A. A. Maciejewski, "The design and control of fault tolerant robots for use in hazardous or remote environments, " in Robotics and Remote Systems: Proceedings of the Fourth American Nuclear Society Topical Meeting on Robotics and Remote Systems, pp. 633-642, Albuquerque, New Mexico, February 24-28, 1991

  • C. L. Lewis and A. A. Maciejewski, "Optimization of the dynamic performance of redundant robots in the presence of faults," in Proceedings Fourth International Symposium on Robotics and Manufacturing (ISRAM `92), pp. 279-284, Santa Fe, NM, November, 11-13, 1992.

  • C. L. Lewis and A. A. Maciejewski, "Failure tolerant operation of kinematically redundant manipulators," in Proceedings of the Conference on Intelligent Robots for Factory, Field, Service, and Space (CIRFFSS `94), pp. 837-841, Houston, TX, March 21-24, 1994.

  • R. G. Roberts and A. A. Maciejewski, "Relative manipulability indices for kinematically redundant manipulators and their application to fault tolerance," in Robotics and Manufacturing: Recent Trends in Research, Education, and Applications, Vol. 5, Proceedings of the Fifth International Symposium on Robotics and Manufacturing (ISRAM '94), edited by M. Jamshidi, C. Nguyen, R. Lumia, and J. Yuh, pp. 253-259, Maui, Hawaii, August, 15-17, 1994.

  • PDF C. L. Lewis and A. A. Maciejewski, "An example of failure tolerant operation of a kinematically redundant manipulator," in IEEE International Conference on Robotics and Automation, pp. 1380-1387, San Diego, CA, May 8-13, 1994.

  • J. D. English and A. A. Maciejewski, "The control of kinematically redundant manipulators anticipating free-swinging joint failures," in American Nuclear Society 6th Topical Meeting on Robotics and Remote Systems, pp. 480-486, Monterey, CA, February 5-10, 1995.

  • R. G. Roberts and A. A. Maciejewski, "A measure of local fault tolerance for kinematically redundant manipulators," in Third IASTED International Conference on Robotics and Manufacturing, pp. 99-102, Cancun, Mexico, June 14-17, 1995.

  • PDF J. D. English and A. A. Maciejewski, "Fault tolerance for kinematically redundant manipulators: Anticipating free-swinging joint failures," in IEEE International Conference on Robotics and Automation, pp. 460-467, Minneapolis, MN, April 22-28, 1996. (Finalist for Best Student Paper Award)

  • PDF J. D. English and A. A. Maciejewski, "Euclidean-space measures of robotic joint failures," IEEE International Conference on Robotics and Automation, pp. 2894-2901, Albuquerque, NM, April 20-25, 1997.

  • PDF M. Goel, A. A. Maciejewski, and V. Balakrishnan, "An analysis of the post-fault behavior of robotic manipulators," IEEE International Conference on Robotics and Automation, pp. 2583-2588, Albuquerque, NM, April 20-25, 1997.

  • PDF K. N. Groom, A. A. Maciejewski, and V. Balakrishnan, "Real-time failure tolerant control of kinematically redundant manipulators," IEEE International Conference on Robotics and Automation, pp. 2595-2600, Albuquerque, NM, April 20-25, 1997. (Winner of Best Student Paper Award)

  • K. N. Groom, A. A. Maciejewski, and V. Balakrishnan, "Failure tolerant robots for industrial applications," International Robots and Vision Conference, Chapter 8, pp. 29-42, Detroit, MI, May 12-15, 1997.

  • PDF A. A. Maciejewski, V. Balakrishnan,J. D. English,M. Goel, K. N. Groom, C. L. Lewis, and R. G. Roberts, "An overview of using kinematic redundancy to create failure tolerant robots," Fifth International Symposium on Methods and Models in Automation and Robotics, pp. 765-772, Miedzyzdroje, Poland, Aug. 25-29, 1998.

  • PDF M. Goel, A. A. Maciejewski, and V. Balakrishnan, "Undetected Locked-Joint Failures in Kinematically Redundant Manipulators: A Workspace Analysis," International Conference on Intelligent Robots and Systems (IROS), pp. 317-322, Victoria, B.C., Oct. 12-16, 1998.

  • PDF M. Goel, A. A. Maciejewski, and V. Balakrishnan, "The design of control strategies tolerant to undetected failures in kinematically redundant manipulators" IEEE International Conference on Robotics and Automation, pp. 867-873, Detroit, MI, May 10-15, 1999.

  • PDF M. Goel, A. A. Maciejewski, V. Balakrishnan, and R. W. Proctor, "Failure tolerant teleoperation of a kinematically redundant manipulator: An experimental study," IEEE International Conference on Robotics and Automation, pp. 874-880, Detroit, MI, May 10-15, 1999.

  • J. D. English and A. A. Maciejewski, "An Example of Failure Tolerance through Active Braking," Second International Conference on Recent Advances in Mechatronics, pp. 181-186, Istanbul, Turkey, May 24-26, 1999.

  • PDF R. Jamisola, A. A. Maciejewski, and R. G. Roberts, "A Path Planning Strategy for Kinematically Redundant Manipulators Anticipating Joint Failures in the Presence of Obstacles," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 142-148, Las Vegas, NV, Oct. 27-31, 2003.

  • R. Jamisola, A. A. Maciejewski, and R. G. Roberts, "A Computational Feasibility Study of Failure-Tolerant Path Planning," American Nuclear Society 10th International Conference on Robotics and Remote Systems for Hazardous Environments pp. 233-239, Gainesville, FL, March 28-31, 2004.

  • PDF R. Jamisola, A. A. Maciejewski, and R. G. Roberts, "Failure-Tolerant Path Planning for the PA-10 Robot Operating Amongst Obstacles," IEEE International Conference on Robotics and Automation, pp. 4995-5000, New Orleans, LA, April 26 - May 1, 2004.

  • PDF R. G. Roberts, R. Jamisola, and A. A. Maciejewski, "Identifying the Failure-Tolerant Workspace Boundaries of a Kinematically Redundant Manipulator," IEEE International Conference on Robotics and Automation, pp. 4517-4523, Rome, Italy, April 10-14, 2007.

  • PDF R. C. Hoover, R. G. Roberts, and A. A. Maciejewski, "Implementation Issues in Identifying the Failure-Tolerant Workspace Boundaries of a Kinematically Redundant Manipulator," 2007 International Conference on Intelligent Robots and Systems (IROS 2007), pp. 3528-3533, San Diego, CA, Oct. 29 - Nov. 2, 2007.

  • PDF R. G. Roberts, H. G. Yu and A. A. Maciejewski, "Characterizing Optimally Fault-Tolerant Manipulators Based on Relative Manipulability Indices," 2007 International Conference on Intelligent Robots and Systems (IROS 2007), pp. 3925-3930, San Diego, CA, Oct. 29 - Nov. 2, 2007.

  • PDF R. G. Roberts, S. A. Siddiqui, and A. A. Maciejewski "Designing Equally Fault-Tolerant Configurations for Kinematically Redundant Manipulators," 41st Southeastern Symposium on System Theory (SSST2009), pp. 335-339, University of Tennessee Space Institute, Tullahoma, Tennessee, March 15-17, 2009.

  • 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 D. A. Brake, D. J. Bates, V. Putkaradze, and A. A. Maciejewski, "An illustration of numerical algebraic methods for workspace estimation of cooperating robots after joint failure," 15th IASTED International Conference on Robotics and Applications, pp. 461-468, Cambridge, MA, Nov. 1-3, 2010.

  • PDF H. Abdi, S. Nahavandi, and A. A. Maciejewski, "Optimal fault tolerant Jacobian matrix generators for redundant manipulators," IEEE International Conference on Robotics and Automation , pp. 4688-4693, Shanghai, China, May 9-13, 2011.

  • 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 H. Abdi, A. A. Maciejewski, and S. Nahavandi, "A probabilistic approach for measuring the fault tolerance of robotic manipulators," IEEE International Conference on Robotics and Automation (ICRA2013), pp. 1995-2001, Karlsruhe, Germany, May 6-10, 2013.

  • 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.

  • PDF D. A. Brake, D. J. Bates, V. Putkaradze, and A. A. Maciejewski, "Workspace Multiplicity and Fault Tolerance of Cooperating Robots," Sixth International Conference on Mathematical Aspects of Computer and Information Sciences (MACIS 2015), 15 pages, Berlin, Germany Nov. 11-13, 2015.

  • PDF A. Almarkhi, and A. A. Maciejewski, "Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structures," accepted to appear in International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), pp. 42-49, Prague, Czech Republic, July 29-31, 2019.


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    This document was last modified June 6, 2013.