You are not logged in.

Minimum reconfiguration for fault tolerant manipulators

Abdi, Hamid and Nahavandi, Saeid 2010, Minimum reconfiguration for fault tolerant manipulators, in ASME & IDETC/CIE 2010 : Proceedings of the ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, ASME, New York, N.Y., pp. 1-6.

Attached Files
Name Description MIMEType Size Downloads

Title Minimum reconfiguration for fault tolerant manipulators
Author(s) Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Nahavandi, Saeid
Conference name International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (2010 : Quebec, Canada)
Conference location Quebec, Canada
Conference dates 15-18 Aug. 2010
Title of proceedings ASME & IDETC/CIE 2010 : Proceedings of the ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference
Editor(s) [Unknown]
Publication date 2010
Conference series International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Start page 1
End page 6
Total pages 6
Publisher ASME
Place of publication New York, N.Y.
Summary When a robotic manipulator is fault tolerant it is beneficial to study the configurations which tolerate non-catastrophic locked joint failures with a minimum relative change for the joint velocities. This problem is addressed using the properties of the condition number of the Jacobian matrix. The relationship between the faults within the joints of the manipulators and the condition number of the Jacobean matrix is used to introduce the optimal configurations for fault recovery. These optimum configurations require a minimum reconfiguration for fault tolerance of robotics manipulators. Then these configurations are studied for a 4-DOF planar manipulator to validate the proposed framework.
ISBN 9780791838815
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 by ASME
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031143

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
Connect to link resolver
 
Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved.

Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 1 times in TR Web of Science
Scopus Citation Count Cited 7 times in Scopus
Google Scholar Search Google Scholar
Access Statistics: 666 Abstract Views, 10 File Downloads  -  Detailed Statistics
Created: Fri, 12 Nov 2010, 13:58:31 EST by Sandra Dunoon

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.