O. V. Ramana Murthy, A. Panda, S. Mukherjee, I. Kar
{"title":"Fault tolerant operation of one dimensional MPBS","authors":"O. V. Ramana Murthy, A. Panda, S. Mukherjee, I. Kar","doi":"10.1109/TENCON.2003.1273334","DOIUrl":null,"url":null,"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.","PeriodicalId":405847,"journal":{"name":"TENCON 2003. Conference on Convergent Technologies for Asia-Pacific Region","volume":"133 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"TENCON 2003. Conference on Convergent Technologies for Asia-Pacific Region","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/TENCON.2003.1273334","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
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.
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