Journal article 580 views
A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator
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Shuai Li ,
Xinwei Cao
IEEE Transactions on Industrial Informatics, Volume: 16, Issue: 12, Pages: 7469 - 7478
Swansea University Authors:
Chunxu Li , Shuai Li
Full text not available from this repository: check for access using links below.
DOI (Published version): 10.1109/tii.2019.2957186
Abstract
Nowadays industrial redundant manipulators have been playing important roles in manufacturing fields such as welding and assembling by performing repetitive and dull work. Such long-term industrial operations usually require redundant manipulators to keep good working conditions and maintain steadin...
| Published in: | IEEE Transactions on Industrial Informatics |
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| ISSN: | 1551-3203 1941-0050 |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2020
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| Online Access: |
Check full text
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa52973 |
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| Abstract: |
Nowadays industrial redundant manipulators have been playing important roles in manufacturing fields such as welding and assembling by performing repetitive and dull work. Such long-term industrial operations usually require redundant manipulators to keep good working conditions and maintain steadiness of joint actuation. However, some joints of redundant manipulators may fall into fault status after enduring long-period heavy manipulations, causing that the desired industrial tasks can not be accomplished accurately. In this paper, we propose a novel fault-tolerant method with simultaneous fault-diagnose function for motion planning and control of industrial redundant manipulators. The proposed approach is able to adaptively localize which joints run away from the normal state to be fault, and it can guarantee to finish the desired path tracking control even when these fault joints lose their velocity to actuate. Simulation and experiment results on a Kuka LBR iiwa manipulator demonstrate the efficiency of the proposed fault-tolerant method for motion control of the redundant manipulator. |
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| College: |
Faculty of Science and Engineering |
| Issue: |
12 |
| Start Page: |
7469 |
| End Page: |
7478 |