IEEE - Institute of Electrical and Electronics Engineers, Inc. - Maximizing the Size of Self-Motion Manifolds to Improve Robot Fault Tolerance

Author(s): Ahmad A. Almarkhi ; Anthony A. Maciejewski
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2019
Volume: 4
Page(s): 2,653 - 2,660
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2913994
Regular:

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... View More

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