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Please use this identifier to cite or link to this item: http://eprint.iitd.ac.in/handle/2074/2087

Title: Fault tolerant operation of one dimensional MPBS
Authors: Ramana Murthy, O V
Panda, A K
Mukherjee, S
Kar, I N
Keywords: massively parallel binary system
parallel manipulator
binary actuators
Issue Date: 2003
Citation: TENCON Conference on Convergent Technologies for Asia-Pacific Region, 1, 300 - 304p.
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.
URI: http://eprint.iitd.ac.in/dspace/handle/2074/2087
Appears in Collections:Electrical Engineering

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