Kinematic design of optimally fault tolerant robots for different joint failure probabilities

Biyun Xie, Anthony A. Maciejewski

Research output: Contribution to journalArticlepeer-review

7 Scopus citations

Abstract

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 cases of joint failure probabilities are introduced separately. Given an arbitrary set of joint failure probabilities, the optimal null space that optimizes the fault tolerant measure is derived, and the associated isotropic Jacobians are constructed. The kinematic parameters of the optimally fault tolerant robots are then generated from these Jacobians. One special case, i.e., how to construct the optimal Jacobian of spatial 7R robots for both positioning and orienting is further discussed. For multiple cases of joint failure probabilities, the optimal robot is designed through optimizing the sum of the fault tolerant measures for all the possible joint failure probabilities. This technique is illustrated on planar 3R robots, and it is shown that there exists a family of optimal robots.

Original languageEnglish
Pages (from-to)827-834
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume3
Issue number2
DOIs
StatePublished - Apr 2018

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

  • Fault tolerant robots
  • Kinematics
  • Redundant robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence

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