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Task completion with partially-failed manipulators

Abdi, Hamid and Nahavandi, Saeid 2010, Task completion with partially-failed manipulators, in RAM 2010 : Proceedings of the 2010 IEEE International Conference on Robotics, Automation and Mechatronics (RAM), IEEE, Piscataway, N. J., pp. 269-274, doi: 10.1109/RAMECH.2010.5513178.

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Title Task completion with partially-failed manipulators
Author(s) Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Nahavandi, Saeid
Conference name IEEE International Conference on Robotics, Automation and Mechatronics (2010 : Singapore)
Conference location Singapore
Conference dates 28-30 Jun. 2010
Title of proceedings RAM 2010 : Proceedings of the 2010 IEEE International Conference on Robotics, Automation and Mechatronics (RAM)
Editor(s) [Unknown]
Publication date 2010
Conference series International Conference on Robotics, Automation and Mechatronics
Start page 269
End page 274
Total pages 6
Publisher IEEE
Place of publication Piscataway, N. J.
Keyword(s) fault tolerant systems
fault recovery
nonlinear systems
fault accommodation
robotics manipulators
Summary An effort to maintain the availability of partially failed manipulator is addressed based on redundant trajectories obtained by primitive constraints. The objective is to facilitate the existing manipulators to continue their point to point motion tasks when a non catastrophic fault occurs into a joint. The fault is assumed as a joint locked failure. This is achieved through fault to primitive constraints mapping which gives the primitive constraints due to the faults. Then they are applied to update the manipulator constraints for the trajectory planning. Then it purposes a new trajectory in the case of availability. Finally the method is applied for a 6DOF manipulator and validated under a fault scenario within a 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 1424465036
9781424465033
Language eng
DOI 10.1109/RAMECH.2010.5513178
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:30031381

Document type: Conference Paper
Collections: Centre for Intelligent Systems Research
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Created: Mon, 29 Nov 2010, 18:05:50 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.