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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.

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Title Joint velocity redistribution for fault tolerant manipulators
Author(s) Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Nahavandi, SaeidORCID iD for 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
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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.