Fault Tolerant Control and Reconfiguration of Mobile Manipulator

Rayankula, Vitalram; Pathak, Pushparaj Mani

doi:10.1007/s10846-021-01317-1

Cited by 9 publications

(2 citation statements)

References 24 publications

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“…From the literature, the strategy for robots to recover from joint failure is using redundant design and then performing computational reconfiguration of the remaining functional joints to cope with the failed joint. Inverse kinematics [20,21], quadratic programming algorithms [22], and optimization methods [11,23] are often used for joint reconfiguration; however, these methods require complex computations, which could lead to high computation resources and be time-consuming when used in real situations. The approach using metaheuristic methods or soft computing algorithms could help reduce the computational complexity and determine a good joint-reconfiguration solution for redundant robots within an acceptable computation time, as shown in [15].…”

Section: Introductionmentioning

confidence: 99%

Joint Reconfiguration after Failure for Performing Emblematic Gestures in Humanoid Receptionist Robot

Jutharee,

Kaewkamnerdpong,

Maneewarn

2023

Sensors

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This study proposed a strategy for a quick fault recovery response when an actuator failure problem occurred while a humanoid robot with 7-DOF anthropomorphic arms was performing a task with upper body motion. The objective of this study was to develop an algorithm for joint reconfiguration of the receptionist robot called Namo so that the robot can still perform a set of emblematic gestures if an actuator fails or is damaged. We proposed a gesture similarity measurement to be used as an objective function and used bio-inspired artificial intelligence methods, including a genetic algorithm, a bacteria foraging optimization algorithm, and an artificial bee colony, to determine good solutions for joint reconfiguration. When an actuator fails, the failed joint will be locked at the average angle calculated from all emblematic gestures. We used grid search to determine suitable parameter sets for each method before making a comparison of their performance. The results showed that bio-inspired artificial intelligence methods could successfully suggest reconfigured gestures after joint motor failure within 1 s. After 100 repetitions, BFOA and ABC returned the best-reconfigured gestures; there was no statistical difference. However, ABC yielded more reliable reconfigured gestures; there was significantly less interquartile range among the results than BFOA. The joint reconfiguration method was demonstrated for all possible joint failure conditions. The results showed that the proposed method could determine good reconfigured gestures under given time constraints; hence, it could be used for joint failure recovery in real applications.

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Section: Introductionmentioning

confidence: 99%

Joint Reconfiguration after Failure for Performing Emblematic Gestures in Humanoid Receptionist Robot

Jutharee,

Kaewkamnerdpong,

Maneewarn

2023

Sensors

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“…In [13], the actuator fault reconstruction (AFR) problem is investigated by introducing two observers: one to estimate unknown inputs and the other to facilitate fault reconstruction. A particular kind of actuator faults in manipulator systems, i.e., joint luck failure, is considered in [14], and two kinds of reconfiguration schemes are proposed to cope with this issue. In [15], a fault-tolerant control technique is studied for electro-hydraulic actuators.…”

Section: Introductionmentioning

confidence: 99%

Generalized Sliding Mode Observers for Simultaneous Fault Reconstruction in the Presence of Uncertainty and Disturbance

et al. 2022

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In this paper, a generalized sliding mode observer design method is proposed for the robust reconstruction of sensors and actuators faults in the presence of both unknown disturbances and uncertainties. For this purpose, the effect of uncertainty and disturbance on the system has been considered in generalized state-space form, and the LMI tool is combined with the concept of an equivalent output error injection method to reduce the effects of them on the reconstruction process. The upper bound of the disturbance and uncertainty are minimized in the design of the sliding motion so that the reconstruction of the faults will be minimized. The design method is applied for actuator faults in the generalized state-space form, and then with some suitable filtering, the method extends as sensors and actuators coincidentally faults. Since in the proposed approach, the state trajectories do not leave the sliding manifold even in simultaneous sensors and actuators faults, then the faults are reconstructed based upon information retrieved from the equivalent output error injection signal. Due to the importance of the robust fault reconstruction in the wind energy conversion system (WECS), the proposed approach is successfully applied to a 5 MW wind turbine system. The simulation results verify the robust performances of the proposed approach in the presence of unknown perturbations and uncertainties.

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Optimal control of the E–L dynamic systems during the actuator faults

Galicki

2024

Intl J Robust & Nonlinear

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In this article, we deal with finite‐time optimal control of the Euler–Lagrange (E–L) multi‐body mechanism under: uncertain its kinematics and dynamics, displacement blocking of the damaged joint caused by the actuator failure, undesirable forces/torques exerted on the end‐effector and unknown friction forces originating from joints directly driven by the actuators, as well as completely unstructured forces arising from the kinematic singularities appearing on the mechanism trajectory. Based on the suitably defined task space non‐singular terminal sliding manifold and the Lyapunov stability theory, we propose a class of new fault tolerant estimated generalized Jacobian controllers, which seem to be effective in reducing (minimizing) the joint velocity jumps as well as in counteracting the unstructured forces/torques. On account of the fact, that the multi‐body mechanism is a redundant one, a useful criterion function (energy consumption manipulability measure) has been utilized in our controller to temporarily optimally track a desired trajectory. The proposed controllers' performance is demonstrated by computer simulations conducted on a redundant manipulator in conditions of unexpected actuator failure and the corresponding joint lock. Additionally, numerical comparisons are also provided with other representative controllers, found in the literature.

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Fault Tolerant Control and Reconfiguration of Mobile Manipulator

Cited by 9 publications

References 24 publications

Joint Reconfiguration after Failure for Performing Emblematic Gestures in Humanoid Receptionist Robot

Joint Reconfiguration after Failure for Performing Emblematic Gestures in Humanoid Receptionist Robot

Generalized Sliding Mode Observers for Simultaneous Fault Reconstruction in the Presence of Uncertainty and Disturbance

Optimal control of the E–L dynamic systems during the actuator faults

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