Deakin home > Deakin University Library > Deakin Research Online > Joint velocity redistribution for fault tolerant manipulators

Joint velocity redistribution for fault tolerant manipulators

Abdi, Hamid and Nahavandi, Saeid 2010, Joint velocity redistribution for fault tolerant manipulators, in RAM 2010 : Proceedings of the 2010 IEEE International Conference on Robotics, Automation and Mechatronics, IEEE, Piscataway, N. J., pp. 492-497.

Attached Files (Some files may be inaccessible until you login with your Deakin Research Online credentials)
Name Description MIMEType Size Downloads

Title Joint velocity redistribution for fault tolerant 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
Editor(s) [Unknown]
Publication date 2010
Conference series International Conference on Robotics, Automation and Mechatronics
Start page 492
End page 497
Publisher IEEE
Place of publication Piscataway, N. J.
Keyword(s) robotic manipulator
fault tolerant
optimal control
actuator fault
Summary If the end-effector of a robotic manipulator moves on a specified trajectory, then for the fault tolerant operation, it is required that the end-effector continues the trajectory with a minimum velocity jump when a fault occurs within a joint. This problem is addressed in the paper. A way to tolerate the fault is to find new joint velocities for the faulty manipulator in which results into the same end-effector velocity provided by the healthy manipulator. The aim of this study is to find a strategy which optimally redistributes the joint velocities for the remained healthy joints of the manipulators. The optimality is defined by the minimum end-effector velocity jump. A solution of the problem is presented and it is applied to a robotics manipulator. Then through a case study and a simulation study it is validated. The paper shows that if would be possible the joint velocity redistribution results into a zero velocity jump.
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
Copyright notice ©2010, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031382

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

Versions
Version Filter Type
Access Statistics: 295 Abstract Views, 6 File Downloads  -  Detailed Statistics
Created: Mon, 29 Nov 2010, 18:17:17 EST by Sandra Dunoon