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Fault-Tolerance Experiments with a Kinematically Redundant Holonomic Mobile Robot

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Mechanisms, Transmissions and Applications (IFToMM 2017)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 52))

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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.

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Author information

Authors and Affiliations

  1. Izmir Institute of Technology, Izmir, Turkey

    Osman Nuri Şahin, Onur Çelik & Mehmet İsmet Can Dede

Authors
  1. Osman Nuri Şahin
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  2. Onur Çelik
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  3. Mehmet İsmet Can Dede
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Corresponding author

Correspondence to Mehmet İsmet Can Dede .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineerin, Izmir Institute of Technology, Izmir, Turkey

    Mehmet Ismet Can Dede

  2. Department of Mechanical Engineering, Karadeniz Technical University , Trabzon, Turkey

    Mehmet İtik

  3. Faculty of Mechanical Engg, Politehnica University of Timisoara, Timisoara, Romania

    Erwin-Christian Lovasz

  4. Makina Mühendisligi Bolumu, Izmir Institute of Technology, Izmir, Turkey

    Gökhan Kiper

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Şahin, O.N., Çelik, O., Dede, M.İ.C. (2018). Fault-Tolerance Experiments with a Kinematically Redundant Holonomic Mobile Robot. In: Dede, M., İtik, M., Lovasz, EC., Kiper, G. (eds) Mechanisms, Transmissions and Applications. IFToMM 2017. Mechanisms and Machine Science, vol 52. Springer, Cham. https://doi.org/10.1007/978-3-319-60702-3_17

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  • DOI: https://doi.org/10.1007/978-3-319-60702-3_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60701-6

  • Online ISBN: 978-3-319-60702-3

  • eBook Packages: EngineeringEngineering (R0)

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