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, doi: 10.1109/RAMECH.2010.5513145. Attached Files Name Description MIMEType Size Downloads abdi-jointvelocity-2010.pdf Published version application/pdf 272.48KB 71 Title Joint velocity redistribution for fault tolerant manipulators Author(s) Abdi, Hamid orcid.org/0000-0001-6597-7136 Nahavandi, Saeid orcid.org/0000-0002-0360-5270 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 Total pages 6 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. 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.2010.5513145 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 Free to Read? Yes Persistent URL http://hdl.handle.net/10536/DRO/DU:30031382 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, 18:17:30 EST Mon, 29 Nov 2010, 18:19:08 EST Mon, 06 Dec 2010, 12:29:52 EST Mon, 06 Dec 2010, 12:31:31 EST Tue, 07 Dec 2010, 07:24:41 EST Tue, 10 May 2011, 11:02:53 EST Tue, 10 May 2011, 12:42:13 EST Fri, 16 Mar 2012, 18:22:49 EST Tue, 12 Aug 2014, 08:39:23 EST Fri, 22 Aug 2014, 15:48:18 EST Mon, 15 Sep 2014, 14:30:23 EST Wed, 21 Oct 2015, 13:50:38 EST Tue, 06 Sep 2016, 16:07:51 EST Tue, 05 Dec 2017, 10:44:54 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 13 times in Scopus Search Google Scholar Access Statistics: 661 Abstract Views, 74 File Downloads  -  Detailed Statistics Created: Mon, 29 Nov 2010, 18:17:17 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.