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

conference contribution
posted on 2015-01-01, 00:00 authored by M Yazdani, R S Novin, M T Masouleh, M B Menhaj, Hamid AbdiHamid Abdi
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.



Robotics and Mechatronics. International Conference (3rd : 2015 : Tehran, Iran)


365 - 370




Tehran, Iran

Place of publication

Piscataway, N.J.

Start date


End date




Publication classification

E Conference publication; E1 Full written paper - refereed

Copyright notice

2015, IEEE

Title of proceedings

ICROM 2015 : Proceedings of the 3rd RSI International Conference on Robotics and Mechatronics