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Fault Tolerant Control and Reconfiguration of Mobile Manipulator

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Abstract

Trajectory control of mobile manipulator under joint lock failure poses new challenges. In this work fault tolerant scheme is proposed for trajectory control under joint lock failure through reconfiguration while exploiting the existing redundancy of the mobile manipulator system. Closed loop inverse kinematics (CLIK) algorithm are employed to transform the tip trajectory control problem to joint space control problem. In this work, two kinds of reconfiguration schemes are proposed, one using the redundancy in the manipulator only and another using the redundancy available with complete mobile manipulator system. Both types of the reconfiguration schemes use CLIK algorithm to calculate mobile base position and manipulator joint configurations so that the tip follows the reference trajectory in spite of locked joint failure of manipulator. Simulation and experimental results are presented to validate the proposed fault tolerant schemes.

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The data related to the work contributions presented in this work is available with authors.

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Acknowledgements

Authors are grateful to Pulkit Goyal, Prabh Pal Singh and Nitesh Arora for their help in development of prototype of mobile manipulator.

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The work presented in the manuscript is not supported by any funding agency.

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Authors and Affiliations

  1. Department of Mechanical Engineering, SRKR Engineering College, Bhimavaram, India

    Vitalram Rayankula

  2. Department of Mechanical and Industrial Engineering, Indian Institute of Technology Roorkee, Roorkee, India

    Pushparaj Mani Pathak

Authors
  1. Vitalram Rayankula
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Contributions

Vitalram Rayankula: This work is part of his PhD thesis. This author has performed the simlulations and conducted the experiment. The results of both experiments and simulations given in the manuscipt were recorded and analysed by him. The author has also prepared the manuscript.

Pushparaj Mani Pathak: This authors is responsible for the research leadership. He has conceptualized the problem and guided the student to conduct simulations and experiments. He has guided, reviewed and revised the manuscript several times. He equally shares responsibilty for the results and the ideas proposed in the manuscript along with the first author.

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Correspondence to Pushparaj Mani Pathak.

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Rayankula, V., Pathak, P.M. Fault Tolerant Control and Reconfiguration of Mobile Manipulator. J Intell Robot Syst 101, 34 (2021). https://doi.org/10.1007/s10846-021-01317-1

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