An experimental study on the failure tolerant control of a redundant planar serial manipulator via pseudo-inverse approach

Yazdani, Mehdi; Novin, Roya Sabbagh; Masouleh, Mehdi Tale; Menhaj, Mohammad Bagher; Asayesh, Hamid

doi:10.1109/icrom.2015.7367812

Cited by 5 publications

(4 citation statements)

References 12 publications

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“…The remaining errors of 𝜏 from 𝜏 ⋆ is shown in Figure 6. The red circle line represents results from the D-D FTC scheme, and the blue dotted line represents results from only (5). It could be seen that the 3 rd step breaks the slash 𝕃 constraint and reaches the switching condition.…”

Section: Simulationmentioning

confidence: 99%

“…To enhance the performance of the FTC system and achieve more targeted tolerance, active FTC against the faulty component has been widely researched. A pseudo-inverse reconfiguration method was developed to minimize the end actuators' velocity jump of the serial manipulator [5] . However, the matrix inversion method requires that the parameters in the matrix do not change, so it is only used in some specified conditions.…”

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confidence: 99%

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Compensatory Fault-Tolerant Control Toward the Manipulator in a High-Throughput Preparation System

Liu

Zhao

et al. 2022

J. Phys.: Conf. Ser.

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A Deviation-Division Fault-Tolerant Control (D-D FTC) scheme which can produce convergent compensating control inputs for the faulty yet partially controllable actuators in finite steps is proposed in this paper. Based on the D-D FTC scheme, the implementation of the robot manipulator in a high-throughput preparation system is derived. Moreover, the simulation is given to illustrate the effectiveness of the proposed scheme.

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Section: Simulationmentioning

confidence: 99%

mentioning

confidence: 99%

Compensatory Fault-Tolerant Control Toward the Manipulator in a High-Throughput Preparation System

Liu

Zhao

et al. 2022

J. Phys.: Conf. Ser.

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“…Trajectory planning methods of the redundant manipulator are mainly divided into the geometric method, iterative method, and numerical method [1][2][3][4][5][6][7][8][9]. The geometric method is to analyze each joint angle according to the geometric relationship between the end posture and the specific angles in sequence.…”

Section: Introductionmentioning

confidence: 99%

A PI Control Method with HGSO Parameter Regulator for Trajectory Planning of 9-DOF Redundant Manipulator

Liu

Zhu

et al. 2022

Sensors

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In order to solve the tracking accuracy problem of the redundant manipulator, a PI control method with Henry gas solubility optimization parameter regulator (PI-HGSO) is proposed in this paper. This method consists of the controller and the parameter regulator. The characteristic is that the position deviation of a manipulator is equivalent to a specific function; namely, the proportional-integral (PI) controller is used to adjust the deviation input. The error can be better corrected by the processing of the PI controller so that the inverse kinematics solution of the minimum error can be realized. At the same time, the parameter selection of PI controllers has always been a difficulty in controller design. To address the problem, Henry gas solubility optimization (HGSO) is selected as a parameter regulator to optimize the parameters and obtain the optimal controller, thereby achieving high-precision trajectory tracking. Experiments on 9-DOF redundant manipulator show that our method achieves competitive tracking accuracy in contrast with others. Meanwhile, the efficiency and accuracy of the PI controller are greatly guaranteed by using HGSO to automatically optimize controller parameters instead of making approximate adjustments through infinite manual trial and error. Therefore, the feasibility and competitive superiority of PI-HGSO is fully proved in trajectory planning of redundant manipulators.

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“…To solve this inverse kinematics problem, many methods were proposed in the recent years. [18][19][20][21][22][23][24][25] The traditional method was pseudo-inverse formulation, which included a specific minimum norm solution and a homogeneous solution. 19,20 This method needs to calculate the pseudo-inverse matrix, which was complicated and time-consuming.…”

Section: Introductionmentioning

confidence: 99%

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

Jia¹,

Chen²,

Zhang³

et al. 2019

Robotica

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SUMMARYIn order to solve joint-angle drift problem of dual redundant manipulators at acceleration-level, an acceleration-level tri-criteria optimization motion planning (ALTC-OMP) scheme is proposed, which combines the minimum acceleration norm, repetitive motion planning, and infinity-norm acceleration minimization solutions via weighting factor. This scheme can resolve the joint-angle drift problem of dual redundant manipulators which will arise in single criteria or bi-criteria scheme. In addition, the proposed scheme considers joint-velocity joint-acceleration physical limits. The proposed scheme can not only guarantee joint-velocity and joint-acceleration within their physical limits, but also ensure that final joint-velocity and joint-acceleration are near to zero. This scheme is realized by dual redundant manipulators which consist of left and right manipulators. In order to ensure the coordinated operation of manipulators, two motion planning problems are reformulated as two general quadratic program (QP) problems and further unified into one standard QP problem, which is solved by a simplified linear-variational-inequalities-based primal-dual neural network at the acceleration-level. Computer-simulation results based on dual PUMA560 redundant manipulators further demonstrate the effectiveness and feasibility of the proposed ALTC-OMP scheme to resolve joint-angle drift problem arising in the dual redundant manipulators.

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An experimental study on the failure tolerant control of a redundant planar serial manipulator via pseudo-inverse approach

Cited by 5 publications

References 12 publications

Compensatory Fault-Tolerant Control Toward the Manipulator in a High-Throughput Preparation System

Compensatory Fault-Tolerant Control Toward the Manipulator in a High-Throughput Preparation System

A PI Control Method with HGSO Parameter Regulator for Trajectory Planning of 9-DOF Redundant Manipulator

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

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