Title :
Real time path planning for the constrained motion of fault tolerant robot manipulators
Author :
El-Salam, Abd ; El-Haweet, W.A. ; Pertew, A.M.G.
Author_Institution :
Dept. of Comput. Sci. & Autom. Control, Alexandria Univ., Egypt
Abstract :
A technique for real time path planning of under-actuated robots is developed. The real time path-planning problem is posed as a finite time nonlinear control problem, which is solved in parallel with an optimization technique in the real time. A new controller that is called the Fault Tolerant Motion controller (FTM) is developed. Also a new measure that we called the Reliability Index (RI) is proposed to monitor, instantly, the performance of the FTM. Simulation studies are presented.
Keywords :
fault tolerance; manipulator kinematics; motion control; nonlinear control systems; optimisation; path planning; performance index; real-time systems; constrained manipulator motion; fault tolerance; finite time nonlinear control problem; motion controller; optimization; real time path planning; reliability index; robot manipulators; underactuated robots;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
