Title :
Fault tolerant operation of one dimensional MPBS
Author :
Ramana Murthy, O.V. ; Panda, Anup Kumar ; Mukherjee, S. ; Kar, I.N.
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol., New Delhi, India
Abstract :
A Stewart platform, in its most general form, is a parallel manipulator with six linear actuators, connected to the base and the end-effector with spherical joints. The concept of massively parallel binary system (MPBS) is realized by using legs consisting of a very large number of binary actuators. Current focus is on the design of the one-dimensional MPBS where a set of actuators is connected in parallel to a body along the x-axis only. The paper presents the robustness of a control algorithm for 1D MPBS under the fault condition. It was possible to track a specified trajectory with acceptable performance when some actuators stop functioning in mid-process.
Keywords :
manipulators; microactuators; robust control; Stewart platform; control algorithm robustness; end-effector; fault tolerant operation; massively parallel binary system; microactuator arrays; parallel manipulator; trajectory tracking; Equations; Fault tolerance; Hydraulic actuators; Leg; Manipulators; Mechanical engineering; Redundancy; Robust control; Springs; Trajectory;
Conference_Titel :
TENCON 2003. Conference on Convergent Technologies for the Asia-Pacific Region
Print_ISBN :
0-7803-8162-9
DOI :
10.1109/TENCON.2003.1273334
