Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7031
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dc.contributor.authorŞahin, Osman Nuri-
dc.contributor.authorÇelik, Onur-
dc.contributor.authorDede, Mehmet İsmet Can-
dc.date.accessioned2018-12-03T07:58:35Z-
dc.date.available2018-12-03T07:58:35Z-
dc.date.issued2018-
dc.identifier.citationŞahin, 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_17en_US
dc.identifier.isbn978-331960701-6-
dc.identifier.issn2211-0984-
dc.identifier.urihttps://doi.org/10.1007/978-3-319-60702-3_17-
dc.identifier.urihttp://hdl.handle.net/11147/7031-
dc.description4th Conference on Mechanisms, Transmissions and Applications, MeTrApp 2017; Trabzon; Turkey; 3 July 2017 through 5 July 2017en_US
dc.description.abstractIndoor 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.en_US
dc.language.isoenen_US
dc.publisherSpringer Verlagen_US
dc.relation.ispartofMechanisms, Transmissions and Applications, IFToMM 2017en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectFault toleranceen_US
dc.subjectHolonomic mobile roboten_US
dc.subjectKinematic redundancyen_US
dc.subjectOmni-directional wheelsen_US
dc.subjectMobile robotsen_US
dc.titleFault-tolerance experiments with a kinematically redundant holonomic mobile roboten_US
dc.typeConference Objecten_US
dc.authorid0000-0001-6220-6678en_US
dc.institutionauthorŞahin, Osman Nuri-
dc.institutionauthorÇelik, Onur-
dc.institutionauthorDede, Mehmet İsmet Can-
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume52en_US
dc.identifier.startpage161en_US
dc.identifier.endpage170en_US
dc.identifier.scopus2-s2.0-85025804669en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1007/978-3-319-60702-3_17-
dc.relation.doi10.1007/978-3-319-60702-3_17en_US
dc.coverage.doi10.1007/978-3-319-60702-3_17en_US
local.message.claim2022-09-05T11:33:47.922+0300*
local.message.claim|rp00353*
local.message.claim|submit_approve*
local.message.claim|dc_contributor_author*
local.message.claim|None*
dc.identifier.wosqualityN/A-
dc.identifier.scopusqualityQ4-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.grantfulltextopen-
item.cerifentitytypePublications-
item.fulltextWith Fulltext-
item.openairetypeConference Object-
item.languageiso639-1en-
crisitem.author.dept01. Izmir Institute of Technology-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
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