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Minimum reconfiguration for fault tolerant manipulators
conference contribution
posted on 2010-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Saeid NahavandiWhen a robotic manipulator is fault tolerant it is beneficial to study the configurations which tolerate non-catastrophic locked joint failures with a minimum relative change for the joint velocities. This problem is addressed using the properties of the condition number of the Jacobian matrix. The relationship between the faults within the joints of the manipulators and the condition number of the Jacobean matrix is used to introduce the optimal configurations for fault recovery. These optimum configurations require a minimum reconfiguration for fault tolerance of robotics manipulators. Then these configurations are studied for a 4-DOF planar manipulator to validate the proposed framework.
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Event
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (2010 : Quebec, Canada)Pagination
1 - 6Publisher
ASMELocation
Quebec, CanadaPlace of publication
New York, N.Y.Start date
2010-08-15End date
2010-08-18ISBN-13
9780791838815Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2010 by ASMETitle of proceedings
ASME & IDETC/CIE 2010 : Proceedings of the ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering ConferenceUsage metrics
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