O. V. Ramana Murthy, A. Panda, S. Mukherjee, I. Kar
{"title":"一维MPBS的容错操作","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":"{\"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}","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}
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.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
