Publication Type:

Conference Paper

Source:

TENCON 2003. Conference on Convergent Technologies for Asia-Pacific Region (2003)

ISBN:

9780780381629

Accession Number:

7993273

URL:

http://ieeexplore.ieee.org/document/1273334/?arnumber=1273334

Keywords:

control algorithm robustness, end-effector, Equations, Fault tolerance, fault tolerant operation, Hydraulic actuators, Leg, manipulators, massively parallel binary system, Mechanical engineering, microactuator arrays, Microactuators, parallel manipulator, Redundancy, robust control, Springs, Stewart platform, Trajectory, trajectory tracking

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.

Cite this Research Publication

Dr. Oruganti Venkata Ramana Murthy, Panda, A. K., Mukherjee, S., and Kar, I. N., “Fault tolerant operation of one dimensional MPBS”, in TENCON 2003. Conference on Convergent Technologies for Asia-Pacific Region, 2003.

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