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Title: Fault-tolerance experiments with a kinematically redundant holonomic mobile robot
Authors: Şahin, Osman Nuri
Çelik, Onur
Dede, Mehmet İsmet Can
Keywords: Fault tolerance
Holonomic mobile robot
Kinematic redundancy
Omni-directional wheels
Mobile robots
Publisher: Springer Verlag
Source: Şahin, O.N., Çelik, O., and Dede, M.İ.C. (2018). Fault-tolerance experiments with a kinematically redundant holonomic mobile robot. In M.İ.C. Dede, M. İtik, E.-C. Lovasz, and G. Kiper (Eds.), Mechanisms, Transmissions and Applications, IFToMM 2017. Paper presented at the 4th Conference on Mechanisms, Transmissions and Applications, MeTrApp 2017, Trabzon, 3-5 July, 2017 (pp. 161-170). Cham: Springer. doi:10.1007/978-3-319-60702-3_17
Abstract: Indoor locomotion with mobile robots has found applications in industrial part moving, factory floor investigation and cleaning tasks. Holonomic mobile robots have the advantage of moving in tight and winding passages without the need of steering. In this study, a four omni-directional wheeled mobile robot is considered. The mobile robot is kinematically redundant having four of these wheels and this is used in providing fault-tolerance due to a malfunction in one of the wheels. In this paper, the redundancy resolution for this mobile robot is explained providing a solution to a fault in one of the wheels during operation. A top level controller to compensate for the orientation errors is introduced. Finally experimental set-up is presented along with the result of the fault-tolerance experiments.
Description: 4th Conference on Mechanisms, Transmissions and Applications, MeTrApp 2017; Trabzon; Turkey; 3 July 2017 through 5 July 2017
ISBN: 978-331960701-6
ISSN: 2211-0984
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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