A control structure for fault-tolerant operation of robotic manipulators
Failure of any component of a robotic system during operation is a matter of concern. This work investigates internal shock phenomena due to the failure of joint actuation, and a recovery algorithm for both serial and parallel mechanisms under such circumstances. A control algorithm is studied that consists of a model reference algorithm and computed torque method in the feedforward process, and a simple PID controller in the feedback process. Simulation results illustrate the effectiveness of this recovery algorithm which attempts to reduce the internal shock when failure occurs, and accomplish the tracking of the given end-effector trajectory. The outlined recovery algorithms. which include two stages of robot control, path planning and path tracking, are expected to be applied not only to a case where some joint is fully failed, but also to cases where some joints experience partial failure.
- Research Organization:
- Texas Univ., Austin, TX (United States). Dept. of Mechanical Engineering
- Sponsoring Organization:
- USDOE; National Aeronautic and Space Administration (NASA); USDOE, Washington, DC (United States); National Aeronautics and Space Administration, Washington, DC (United States)
- DOE Contract Number:
- FG02-86NE37966
- OSTI ID:
- 6715912
- Report Number(s):
- DOE/NE/37966-2; CONF-930519-7; ON: DE93005783; CNN: NAG-9-411
- Resource Relation:
- Conference: Institute of Electrical and Electronics Engineers international conference on robotics and automation, Atlanta, GA (United States), 2-7 May 1993
- Country of Publication:
- United States
- Language:
- English
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