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Task completion with partially-failed manipulators
conference contribution
posted on 2010-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Saeid NahavandiAn effort to maintain the availability of partially failed manipulator is addressed based on redundant trajectories obtained by primitive constraints. The objective is to facilitate the existing manipulators to continue their point to point motion tasks when a non catastrophic fault occurs into a joint. The fault is assumed as a joint locked failure. This is achieved through fault to primitive constraints mapping which gives the primitive constraints due to the faults. Then they are applied to update the manipulator constraints for the trajectory planning. Then it purposes a new trajectory in the case of availability. Finally the method is applied for a 6DOF manipulator and validated under a fault scenario within a simulation study and the results are presented.
History
Event
IEEE International Conference on Robotics, Automation and Mechatronics (2010 : Singapore)Pagination
269 - 274Publisher
IEEELocation
SingaporePlace of publication
Piscataway, N. J.Publisher DOI
Start date
2010-06-28End date
2010-06-30ISBN-13
9781424465033ISBN-10
1424465036Language
engNotes
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.Publication classification
E1 Full written paper - refereedCopyright notice
2010, IEEETitle of proceedings
RAM 2010 : Proceedings of the 2010 IEEE International Conference on Robotics, Automation and Mechatronics (RAM)Usage metrics
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