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. Attached Files Name Description MIMEType Size Downloads 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 orcid.org/0000-0001-6597-7136 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 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. Versions Version Filter Type Wed, 20 Apr 2016, 12:37:01 EST Wed, 20 Apr 2016, 12:38:41 EST Thu, 21 Apr 2016, 05:00:42 EST Wed, 27 Apr 2016, 10:21:50 EST Thu, 28 Apr 2016, 06:09:37 EST Thu, 28 Jul 2016, 11:22:22 EST Thu, 28 Jul 2016, 11:24:27 EST Wed, 12 Oct 2016, 15:06:50 EST Wed, 09 Nov 2016, 11:18:02 EST Wed, 01 Mar 2017, 07:56:17 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 2 times in Scopus Search Google Scholar Access Statistics: 136 Abstract Views, 3 File Downloads  -  Detailed Statistics Created: Wed, 27 Apr 2016, 10:21:50 EST

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