FAULT DETECTION OF THE ACTUATOR BLOCKING - Experimental Results in Robot Control Structures

Matei Vinatoru, Eugen Iancu

2006

Abstract

In this paper is presented an algorithm, which allows for a certain robotic structure, under the terms of an actuator blocking occurrence during the operation, either a correct positioning (if it is possible) or a positioning in an acceptable proximity of the desired coordinates by minimising an optimal criteria (through the adequate commands to the functional elements). The paper is proposing the synthesis of the commands for a poly-articulated robotic arm (3 segments). First, a workspace analysis is made, then is presented the algorithm for the actuators, first in the terms of a normal operation (finding the optimal motions) and second in the terms of the blocking of some robotic segments.

Paper Citation

in Harvard Style

Vinatoru M. and Iancu E. (2006). FAULT DETECTION OF THE ACTUATOR BLOCKING - Experimental Results in Robot Control Structures . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 548-551. DOI: 10.5220/0001217505480551

in Bibtex Style

@conference{icinco06,
author={Matei Vinatoru and Eugen Iancu},
title={FAULT DETECTION OF THE ACTUATOR BLOCKING - Experimental Results in Robot Control Structures},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={548-551},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001217505480551},
isbn={978-972-8865-60-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - FAULT DETECTION OF THE ACTUATOR BLOCKING - Experimental Results in Robot Control Structures
SN - 978-972-8865-60-3
AU - Vinatoru M.
AU - Iancu E.
PY - 2006
SP - 548
EP - 551
DO - 10.5220/0001217505480551