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On the effort of task completion for partially-failed manipulators

Abdi, Hamid, Nahavandi, Saeid and Najdovski, Zoran 2010, On the effort of task completion for partially-failed manipulators, in INDIN 2010 : Proceedings of the 8th IEEE Interantional Conference on Industrial Informatics, IEEE Xplore, Los Alamitos, Calif., pp. 201-206, doi: 10.1109/INDIN.2010.5549434.

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Title On the effort of task completion for partially-failed 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
Najdovski, ZoranORCID iD for Najdovski, Zoran orcid.org/0000-0002-8880-8287
Conference name IEEE Interantional Conference on Industrial Informatics (8th : 2010 : Osaka, Japan)
Conference location Osaka, Japan
Conference dates 13-16 Jul. 2010
Title of proceedings INDIN 2010 : Proceedings of the 8th IEEE Interantional Conference on Industrial Informatics
Editor(s) [Unknown]
Publication date 2010
Conference series International Conference on Industrial Informatics
Start page 201
End page 206
Total pages 6
Publisher IEEE Xplore
Place of publication Los Alamitos, Calif.
Keyword(s) fault tolerant
robotic manipulators
fault tolerant motion
fault tolerant force
constraint primitives
kinematic redundancy
Summary Adding to a previous work of the authors for task completion for partially failed manipulator, other aspects of the effort are discussed. The paper aims to investigate on the strategies of maximum effort for maintaining the availability of partially failed manipulators. The failures are assumed as the joint lock failures of the manipulators. The main objective is to facilitate the existing manipulators to continue their tasks even if a non catastrophic fault occurs into their joints. The tasks includes motion tasks and force tasks. For each group of tasks a constrained optimality problem is introduced. Then in a case study a required force profile on a desired trajectory using a 3DOF planar manipulator is indicated. Through this study the joint angles and joint torques for a healthy manipulator and a faulty manipulator are shown. It is illustrated that a failure in the second joint is tolerated on the trajectory of end-effector.
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 1424472989
9781424472987
Language eng
DOI 10.1109/INDIN.2010.5549434
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
Free to Read? Yes
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031426

Document type: Conference Paper
Collections: Centre for Intelligent Systems Research
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Created: Thu, 02 Dec 2010, 15:36:37 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.