Fault-Tolerance Experiments With a Kinematically Redundant Holonomic Mobile Robot
| dc.contributor.author | Şahin, Osman Nuri | |
| dc.contributor.author | Çelik, Onur | |
| dc.contributor.author | Dede, Mehmet İsmet Can | |
| dc.coverage.doi | 10.1007/978-3-319-60702-3_17 | |
| dc.date.accessioned | 2018-12-03T07:58:35Z | |
| dc.date.available | 2018-12-03T07:58:35Z | |
| dc.date.issued | 2018 | |
| dc.description | 4th Conference on Mechanisms, Transmissions and Applications, MeTrApp 2017; Trabzon; Turkey; 3 July 2017 through 5 July 2017 | en_US |
| dc.description.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. | en_US |
| dc.identifier.citation | 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 | en_US |
| dc.identifier.doi | 10.1007/978-3-319-60702-3_17 | |
| dc.identifier.doi | 10.1007/978-3-319-60702-3_17 | en_US |
| dc.identifier.isbn | 978-331960701-6 | |
| dc.identifier.issn | 2211-0984 | |
| dc.identifier.scopus | 2-s2.0-85025804669 | |
| dc.identifier.uri | https://doi.org/10.1007/978-3-319-60702-3_17 | |
| dc.identifier.uri | https://hdl.handle.net/11147/7031 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springer Verlag | en_US |
| dc.relation.ispartof | Mechanisms, Transmissions and Applications, IFToMM 2017 | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Fault tolerance | en_US |
| dc.subject | Holonomic mobile robot | en_US |
| dc.subject | Kinematic redundancy | en_US |
| dc.subject | Omni-directional wheels | en_US |
| dc.subject | Mobile robots | en_US |
| dc.title | Fault-Tolerance Experiments With a Kinematically Redundant Holonomic Mobile Robot | en_US |
| dc.type | Conference Object | en_US |
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| gdc.author.institutional | Şahin, Osman Nuri | |
| gdc.author.institutional | Çelik, Onur | |
| gdc.author.institutional | Dede, Mehmet İsmet Can | |
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| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.endpage | 170 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q4 | |
| gdc.description.startpage | 161 | en_US |
| gdc.description.volume | 52 | en_US |
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| gdc.oaire.keywords | Kinematic redundancy | |
| gdc.oaire.keywords | Mobile robots | |
| gdc.oaire.keywords | Fault tolerance | |
| gdc.oaire.keywords | Holonomic mobile robot | |
| gdc.oaire.keywords | Omni-directional wheels | |
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| gdc.oaire.sciencefields | 0209 industrial biotechnology | |
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