MOTION RECOVERY OF PARALLEL MANIPULATORS USING GENERALIZED INVERSE AND PARTITIONED JACOBIAN MATRIX
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2013, Vol 58, Issue 1
Abstract
In this paper, the motion recovery of parallel manipulators due to joint failure is addressed. The failed joints have either zero velocities, locked joints, or nonzero velocities which are different from the desired velocities. For the Jacobian matrix of the failed leg, its generalized inverse, which satisfies the first, second, and fourth equations among four equations of Penrose, is utilized to characterize the minimum norm of the correctional velocity vector related to the healthy joints. The platform twist is fully recovered if the Jacobian matrix of the failed leg is of full rowrank or if the platform twist is in the range space of the Jacobian matrix of the failed leg. When the platform twist is in the orthogonal complement of the range space of the Jacobian matrix of the failed leg, or when the Jacobian matrix of the failed leg is not of full row-rank, the partial recovery of the platform twist is achieved using the partitioned Jacobian matrix, while the correctional joint velocity after the failure is minimized.
Authors and Affiliations
VAHID NAZARI, LEILA NOTASH
Keywords
Related Articles
- EP ID EP179089
- DOI -
- Views 57
- Downloads 0
ULTRA-COMPOSITES: DESIGNING STOCHASTIC COMPOSITES WITH LARGE MICROSTRUCTURAL VARIABILITY
Regular composite materials are made from a small number of constituent phases, usually two, which are arranged spatially such to maximize the stiffness and strength of the material. In this article, we review results re...
EXPERIMENTAL AND THEORETICAL ANALYSIS OF NOVEL TELESCOPIC DEVICES FOR EARTHQUAKE PROTECTION
The telescopic SERB devices are compact mechanical devices designed for bracing isolation systems. These devices can provide important dissipation of the seismic energy and can generate the necessary force to prevent the...
DISCRETE MATHEMATICAL FILTERS OF VIDEO INFORMATION PROCESSING FOR AUTOMATIC IMAGE COMPONENTS DETECTION AND MARKING
In this paper we shall discretize two classes of mathematical filters intended for the video image analysis with the purpose to automatically detect and mark the components that these images contain. Unlike the classical...
SIMULTANEOUS POSITION AND STIFFNESS DISTRIBUTION CONTROL OF ELASTIC REDUNDANT CLOSED-LOOP MECHANISM
The present paper discusses a new design of robotic manipulator having redundant closed-loop mechanism with elastic passive joints. The proposed design is aiming to be utilized for developing robots that are capable to w...
CLASS OF ANTHROPOMORPHIC MODULAR RECONFIGURABLE GRIPPERS WITH THREE OR FOUR FINGERS FOR ROBOT-DESIGN AND PROTOTYPE
In this paper, one class of anthropomorphic modular reconfigurable grippers for robots is described, including a prototype. First, the stages of synthesis, analysis design, and functional simulation are illustrated. The...