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Fault tolerance force for redundant manipulators

Abdi, Hamid and Nahavandi, Saeid 2010, Fault tolerance force for redundant manipulators, in ICACC 2010 : Proceedings of The 2nd IEEE International conference on Advanced Computer Control : Volume 2, Institute of Electronic Engineers Inc., Los Alamitos, Calif., pp. 612-617.

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Title Fault tolerance force for redundant manipulators
Author(s) Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Conference name Institute of Electrical and Electronic Engineers International Conference on Advanced Computer Control (2nd : 2010 : Shenyang, China)
Conference location Shenyang, China
Conference dates 27-29 Mar. 2010
Title of proceedings ICACC 2010 : Proceedings of The 2nd IEEE International conference on Advanced Computer Control : Volume 2
Editor(s) Yan, Weiwei
Su, Ruidan
Xu, Huaiyu
Publication date 2010
Conference series International Conference on Advanced Computer Control
Start page 612
End page 617
Total pages 6
Publisher Institute of Electronic Engineers Inc.
Place of publication Los Alamitos, Calif.
Keyword(s) redundant serial link manipulator
fault tolerance compliance
minimum force jump
Summary Fault tolerant manipulators maintain their trajectory even if their joint/s fails. Assuming that the manipulator is fault tolerant on its trajectory, fault tolerant compliance manipulators provide required force at their end-effector even when a joint fails. To achieve this, the contributions of the faulty joints for the force of the end-effector are required to be mapped into the proper compensating joint torques of the healthy joints to maintain the force. This paper addresses the optimal mapping to minimize the force jump due to a fault, which is the maximum effort to maintain the force when a fault occurs. The paper studies the locked joint fault/s of the redundant manipulators and it relates the force jump at the end-effector to the faults within the joints. Adding on a previous study to maintain the trajectory, in here the objective is to providing fault tolerant force at the end-effector of the redundant manipulators. This optimal mapping with minimum force jump is presented using matrix perturbation model. And the force jump is calculated through this model for single and multiple joints fault. The proposed optimal mapping is used in different fault scenarios for a 5-DOF manipulator; also it is deployed to compensate the force at the end-effector for the 5-DOF manipulator through simulation study and the results are presented.
Notes This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
ISBN 9781424458455
1424458455
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
HERDC collection year 2010
Copyright notice ©2010, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031140

Document type: Conference Paper
Collections: Centre for Intelligent Systems Research
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.