5 accepted papers
Previous work has shown that it is possible to guarantee a reachable workspace for a kinematically redundant robot after an arbitrary locked-joint failure if one artificially restricts the range of its joints prior to the failure. Identifying the optimal articial joint limits has been the subject of
One measure of the global fault tolerance of a redundant robot is the size of its self-motion manifold. If this size is defined as the range of its joint angles, then the optimal self-motion manifold size for an n-degree-of-freedom (DoF) robot is n × 2π, which is not typical for existing robot desig
One measure of a robot's fault tolerance is the size of its self-motion manifold. This letter presents a new methodology for finding the largest self-motion manifold(s) of kinematically redundant robots, that consists of two algorithms. Because large self-motion manifolds occur near singular configu
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 case
A measure of local fault tolerance for kinematically redundant robots has previously been defined based on the properties of the singular values of the Jacobian matrix. Based on these measures, one can determine a Jacobian that is optimal. Because these measures are solely based on the singular valu