Title :
Optimal fault tolerant control of flexure jointed hexapods for applications requiring less than six degrees of freedom
Author :
Li, Xiaochun ; McInroy, John E. ; Hamann, Jerry C.
Author_Institution :
Dept. of Electr. Eng., Wyoming Univ., Laramie, WY, USA
Abstract :
When less than 6 degrees-of-freedom (DOF) are required (in precision pointing tasks, for example), the kinematic redundancy of a Stewart platform (or hexapod) makes it possible to implement fault tolerant algorithms. When one or several of the platform legs (struts) fail, methods are presented in this paper for finding a new, reconfigured control to maintain performance
Keywords :
fault tolerance; optimal control; redundant manipulators; Stewart platform; flexure jointed hexapods; kinematic redundancy; optimal fault tolerant control; precision pointing; robot; Actuators; Control systems; Fault tolerance; Jacobian matrices; Kinematics; Leg; Optimal control; Payloads; Redundancy; Robots;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912215
