@inproceedings{d15bb118e2ce4b4abd4c1dba867a057a,
title = "Orthogonal Gough-Stewart platforms with optimal fault tolerant manipulability",
abstract = "For any manipulator, fault tolerance is a desirable property. This paper shows that for any serial or parallel manipulator functioning about a single point in its workspace, the mean square of the relative manipulabilities over all possible failures, with a given number of links failing at a time, is always constant irrespective of the geometry of the manipulator. In this paper optimal fault tolerant manipulability is defined for parallel manipulators. This concept is applied to Orthogonal Gough-Stewart Platforms (OGSPs) to identify a class of symmetric OGSPs having optimal fault tolerant manipulability. As an example, an 8-strut OGSP having this property is described.",
keywords = "Fault tolerance, Gough-Stewart platforms, Robot kinematics",
author = "Ukidve, {Chinmay S.} and McInroy, {John E.} and Farhad Jafari",
year = "2006",
doi = "10.1109/ROBOT.2006.1642283",
language = "English (US)",
isbn = "0780395069",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "3801--3806",
booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",
note = "2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",
}