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. Attached Files Name Description MIMEType Size Downloads abdi-jointvelocity-2010.pdf Published version application/pdf 272.48KB 31 Title Task completion with partially-failed manipulators Author(s) 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 Open Access Collection Related Links Link Description Connect to published version Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. 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. Versions Version Filter Type Mon, 29 Nov 2010, 18:06:04 EST Mon, 29 Nov 2010, 18:07:39 EST Mon, 29 Nov 2010, 18:22:46 EST Fri, 03 Dec 2010, 10:17:52 EST Fri, 03 Dec 2010, 10:20:59 EST Fri, 03 Dec 2010, 10:23:26 EST Mon, 06 Dec 2010, 08:00:11 EST Fri, 16 Mar 2012, 18:22:41 EST Tue, 12 Aug 2014, 08:38:12 EST Fri, 22 Aug 2014, 15:48:13 EST Mon, 15 Sep 2014, 14:42:48 EST Wed, 21 Oct 2015, 13:50:33 EST Tue, 06 Sep 2016, 16:07:42 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 4 times in Scopus Search Google Scholar Access Statistics: 540 Abstract Views, 40 File Downloads  -  Detailed Statistics 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.