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An experimental study on the failure tolerant control of a redundant planar serial manipulator via pseudo-inverse approach

Yazdani, Mojtaba, Novin, Roya Sabbagh, Masouleh, Mehdi Tale, Menhaj, Mohammad Bagher and Abdi, Hamid 2015, An experimental study on the failure tolerant control of a redundant planar serial manipulator via pseudo-inverse approach, in ICROM 2015 : Proceedings of the 3rd RSI International Conference on Robotics and Mechatronics, IEEE, Piscataway, N.J., pp. 365-370, doi: 10.1109/ICRoM.2015.7367812.

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Title An experimental study on the failure tolerant control of a redundant planar serial manipulator via pseudo-inverse approach
Author(s) Yazdani, Mojtaba
Novin, Roya Sabbagh
Masouleh, Mehdi Tale
Menhaj, Mohammad Bagher
Abdi, Hamid
Conference name Robotics and Mechatronics. International Conference (3rd : 2015 : Tehran, Iran)
Conference location Tehran, Iran
Conference dates 7-9 Oct. 2015
Title of proceedings ICROM 2015 : Proceedings of the 3rd RSI International Conference on Robotics and Mechatronics
Publication date 2015
Start page 365
End page 370
Total pages 6
Publisher IEEE
Place of publication Piscataway, N.J.
Keyword(s) C++ language
control engineering computing
end effectors
fault tolerant control
minimisation
redundant manipulators
QtCreator environment
TaArm four-link serial manipulator
Summary In this paper, fault-tolerant control of redundant planar serial manipulators has been investigated experimentally via an offline method called psuedo-inverse reconfiguration method. Minimizing the end-effector's velocity jump via an optimal mapping of joint failures into healthy joints velocity space can be regarded as the main contribution of this reconfiguration approach. This algorithm has been simulated and implemented on a four-link serial manipulator named as TaArm. It should be mentioned that for simulation and practical tests, C++ programming language in QtCreator environment has been used which provided high computational speed. Two scenarios has been selected for simulation and implementation studies and results shows that the algorithm considerably removes the velocity jump of the end-effector in both simulation and experimetal studies.
Language eng
DOI 10.1109/ICRoM.2015.7367812
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
ERA Research output type E Conference publication
Copyright notice ©2015, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30082945

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