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On the effort of task completion for partially-failed manipulators
conference contribution
posted on 2010-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Saeid Nahavandi, Zoran NajdovskiZoran NajdovskiAdding to a previous work of the authors for task completion for partially failed manipulator, other aspects of the effort are discussed. The paper aims to investigate on the strategies of maximum effort for maintaining the availability of partially failed manipulators. The failures are assumed as the joint lock failures of the manipulators. The main objective is to facilitate the existing manipulators to continue their tasks even if a non catastrophic fault occurs into their joints. The tasks includes motion tasks and force tasks. For each group of tasks a constrained optimality problem is introduced. Then in a case study a required force profile on a desired trajectory using a 3DOF planar manipulator is indicated. Through this study the joint angles and joint torques for a healthy manipulator and a faulty manipulator are shown. It is illustrated that a failure in the second joint is tolerated on the trajectory of end-effector.
History
Event
IEEE Interantional Conference on Industrial Informatics (8th : 2010 : Osaka, Japan)Pagination
201 - 206Publisher
IEEE XploreLocation
Osaka, JapanPlace of publication
Los Alamitos, Calif.Publisher DOI
Start date
2010-07-13End date
2010-07-16ISBN-13
9781424472987ISBN-10
1424472989Language
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
INDIN 2010 : Proceedings of the 8th IEEE Interantional Conference on Industrial InformaticsUsage metrics
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