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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.

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Title Task completion with partially-failed manipulators
Author(s) Abdi, Hamid
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
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.
ISBN 9781424465057
9781424465064
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
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031381

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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Created: Mon, 29 Nov 2010, 18:05:50 EST by Sandra Dunoon