transformed with new recovery configuration when a fault Failure of any component of a robotic system during occur. operation is a mauer of concern. This work investigates In this work, identification of response phenomena internal shock phenomena due to the failure of joint due to the failure of joint actuators, and then definition of actuation, and a recovery algorithm for both serial and the recovery process were studied for both serial and parallel mechanisms under such circumstances. A control parallel mechanisms. The internal shock problem was algorithm is studied that consists of a model reference simulated by assuming that an actuator failed during algorithm and computed torque method in the feedforward manipulation. Simulations revealed that several process, and a simplePR) controller in thefeedback disturbances occurupon failure. The first oneis causedby process. Simulation results illustrate the effectiveness of the shock of failure, which may be of a large magnitude. this recovery algorithm which attempts to reduce the The second one comes from implementing an emergency internal shock when failure occurs, and accomplish the function at the start of recovery such as the ,braking action tracking of the given end-effector trajectory. The outlined for the serial robot or torque redistribution for the parallel recovery algorithms, which include two stages of robot robot. The third one results from the increase of model control, path planning and path tracking, are expected to (parametric) errors. This disturbance is due to the be applied not only to a case where some joint is fully configuration change following failure. The foucdi one is failed, but also to cases where some joints experience caused by a sudden set point change since the recovery partial failure, process immediately attempts to drive the robot back to a new desired joint-space trajectory. Initially, a model.based algorithm using tlmcomputed
Fault tolerance technology promises higher system reliability even under unexpected component failure. Such capability is attained by developing a structural system design that can deliver fault tolerance, and by designing controllers that can take advantage of the fault-tolerant structure. This paper reviews fault-tolerant design issues from a kinematic and structural viewpoint. This is accomplished by studying the kinematic design of a fault-tolerant robotic system at four levels: (I) Joint level (Single and dual actuators); (2) Link level (Serial and parallel modules); (3) Sub-system level (Non-redundant and redundant manipulators); (4) System level (Multiple cooperating manipulators). This work addresses the four levels from a structural design viewpoint. A measure is developed to determine the relative fault-tolerant capacity gained from one manipulator to another. Other criteria are also reviewed in evaluating various manipulators as design alternatives in an effort to identify the most efficient structural modifications to enhance fault tolerance of a robot.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.