Fault tolerance operation of cooperative manipulators

Abdi, Hamid, Nahavandi, Saeid and Najdovski, Zoran 2010, Fault tolerance operation of cooperative manipulators, in i-SAIRAS 2010 : The International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, Sapporo, Japan, pp. 144-151.

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Title Fault tolerance operation of cooperative 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
Najdovski, ZoranORCID iD for Najdovski, Zoran orcid.org/0000-0002-8880-8287
Conference name The International Symposium on Artificial Intelligence, Robotics and Automation in Space (10th : 2010 : Sapporo, Japan)
Conference location Sapporo, Japan
Conference dates 29 Aug. - 1 Sep. 2010
Title of proceedings i-SAIRAS 2010 : The International Symposium on Artificial Intelligence, Robotics and Automation in Space
Editor(s) [Unknown]
Publication date 2010
Conference series International Symposium on Artificial Intelligence, Robotics and Automation in Space
Start page 144
End page 151
Total pages 8
Publisher i-SAIRAS
Place of publication Sapporo, Japan
Keyword(s) cooperative manipulators
redundant manipulator
fault tolerant
minimum force jump
actuator failure
Summary Autonomous or teleoperation of critical tasks in space applications require fault tolerant robotic manipulators. These manipulators are able to maintain their tasks even if a joint fails. If it is presumed that the manipulator is fault tolerant on its trajectory, then the next step is to provide a fault tolerant force at the end-effector of the manipulator. The problem of cooperative fault tolerant force is addressed in this paper within the operation of two manipulators. The cooperative manipulators are used to compensate the force jump which occurs on the force of the end-effector of one manipulator due to a joint failure. To achieve fault tolerant operation, the contribution of the faulty joint for the force of the end-effector of the faulty manipulator is required to be optimally mapped into the torque of the faulty and healthy manipulators. The optimal joint torque reconfigurations of both manipulators for compensating this force jump are illustrated. The proposed frameworks are deployed for two cooperative PUMA560 manipulators. The results of the case studies validate the fault tolerant cooperation strategies.
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, i-SAIRAS
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031152

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Created: Fri, 12 Nov 2010, 15:54:48 EST by Sandra Dunoon

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