A control structure for fault-tolerant operation of robotic manipulators

Author

Ting, Yung ; Tosunoglu, Sabri ; Tesar, Delbert

Author_Institution

Dept. of Mech. Eng., Texas Univ., Austin, TX, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

684

Abstract

Failure of any robotic system component during operation is a matter of concern. Internal shock phenomena due to the failure of joint actuation, and a recovery algorithm for both serial and parallel mechanisms under such circumstances are investigated. A control algorithm is studied that consists of a model reference algorithm and a simple proportional integral derivative (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 continued tracking of the given end-effector trajectory

Keywords

feedback; reliability; robots; three-term control; PID control; control structure; end-effector trajectory; fault-tolerant operation; feedback process; internal shock phenomena; joint actuation failure; model reference algorithm; parallel mechanisms; recovery algorithm; robotic manipulators; serial mechanisms; trajectory tracking; Actuators; Computational modeling; Electric shock; Fault tolerance; Fault tolerant systems; Manipulators; Orbital robotics; Parallel robots; Three-term control; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291826

Filename

291826