Workspace Reconstruction for Designing Modular Reconfigurable Manipulators

2020 ◽  
pp. 277-287
Author(s):  
Athul Thaliyachira Reji ◽  
Anubhav Dogra ◽  
Ekta Singla
Keyword(s):  
Reconfigurable Manipulators

scholarly journals Multisensor Fault Identification Scheme Based on Decentralized Sliding Mode Observers Applied to Reconfigurable Manipulators

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Bo Zhao ◽  
Yuanchun Li
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Fault Identification ◽  
Stable Theory ◽  
Sensor Fault ◽  
Identification Scheme ◽  
Neural Network Controller ◽  
Network Controller ◽  
Sliding Mode Observers ◽  
Reconfigurable Manipulators

This paper concerns with a fault identification scheme in a class of nonlinear interconnected systems. The decentralized sliding mode observer is recruited for the investigation of position sensor fault or velocity sensor fault. First, a decentralized neural network controller is proposed for the system under fault-free state. The diffeomorphism theory is utilized to construct a nonlinear transformation for subsystem structure. A simple filter is implemented to convert the sensor fault into pseudo-actuator fault scenario. The decentralized sliding mode observer is then presented for multisensor fault identification of reconfigurable manipulators based on Lyapunov stable theory. Finally, two 2-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in numerical simulation. The results demonstrate that one joint’s fault does not affect other joints and the sensor fault can be identified precisely by the proposed decentralized sliding mode observer.

Neural network-based hybrid force/position control of constrained reconfigurable manipulators

2021 ◽  
Vol 420 ◽  
pp. 1-14
Author(s):  
Naveen Kumar ◽  
Manju Rani
Keyword(s):  
Neural Network ◽  
Position Control ◽  
Reconfigurable Manipulators

Operational space dynamics for modular reconfigurable manipulators

2017 ◽  
Author(s):  
Yongchao Wang ◽  
Guilin Yang ◽  
Rencheng Wang ◽  
Chin-Yin Chen ◽  
Liang Liu
Keyword(s):  
Operational Space ◽  
Space Dynamics ◽  
Reconfigurable Manipulators

scholarly journals Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures

2015 ◽  
Vol 2015 ◽  
pp. 1-14
Author(s):  
Yuanchun Li ◽  
Fan Zhou ◽  
Bo Zhao
Keyword(s):  
Output Feedback ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
System Model ◽  
Linear Matrix ◽  
Dynamic Output Feedback ◽  
Actuator Fault ◽  
Dynamic Output ◽  
Reconfigurable Manipulators

The goal of this paper is to describe an active decentralized fault-tolerant control (ADFTC) strategy based on dynamic output feedback for reconfigurable manipulators with concurrent actuator and sensor failures. Consider each joint module of the reconfigurable manipulator as a subsystem, and treat the fault as the unknown input of the subsystem. Firstly, by virtue of linear matrix inequality (LMI) technique, the decentralized proportional-integral observer (DPIO) is designed to estimate and compensate the sensor fault online; hereafter, the compensated system model could be derived. Then, the actuator fault is estimated similarly by another DPIO using LMI as well, and the sufficient condition of the existence ofH∞fault-tolerant controller in the dynamic output feedback is presented for the compensated system model. Furthermore, the dynamic output feedback controller is presented based on the estimation of actuator fault to realize active fault-tolerant control. Finally, two 3-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in simulation. The main advantages of the proposed scheme lie in that it can handle the concurrent faults act on the actuator and sensor on the same joint module, as well as there is no requirement of fault detection and isolation process; moreover, it is more feasible to the modularity of the reconfigurable manipulator.

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