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A hybrid approach for fault tolerance in robotics

Abdi, Hamid, Nahavandi, Saeid and Abdi, Masoud 2011, A hybrid approach for fault tolerance in robotics, in ICEE 2011 - Iranian Conference on Electrical Engineering, IEEE, [Tehran, Iran], pp. 1-5.

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Title A hybrid approach for fault tolerance in robotics
Author(s) Abdi, Hamid
Nahavandi, Saeid
Abdi, Masoud
Conference name Iranian Conference on Electrical Engineering (19th : 2011 : Tehran, Iran)
Conference location Tehran, Iran
Conference dates 17-19 May 2011
Title of proceedings ICEE 2011 - Iranian Conference on Electrical Engineering
Editor(s) [Unknown]
Publication date 2011
Conference series Iranian Conference on Electrical Engineering
Start page 1
End page 5
Publisher IEEE
Place of publication [Tehran, Iran]
Keyword(s) fault tolerance
human arm motion
reconfiguration control
reliability
robotic arms
safety
Summary This paper studies the difference between the human behaviours for fault tolerance with a pseudo inverse reconfiguration approach for fault tolerance of robotic arms. If this difference is well understood then it can be used to introduce a hybrid approach for fault tolerant motion of robotic arms. The proposed approach is expected to combine human fault-tolerance dexterity and advantages of a model based fault tolerance. The main aim is to add human dexterity for fault tolerance of robotic arms.
ISBN 9789644634284
9781457707308
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 ©2011, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30042219

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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