Title :
Layered dynamic fault detection and tolerance for robots
Author :
Visinsky, M.L. ; Walker, I.D. ; Cavallaro, J.R.
Author_Institution :
Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA
Abstract :
Robots need to quickly detect and tolerate internal failures in order to continue performing their tasks without the need for immediate human intervention. Using analytical redundancy, tests are derived with which the robot can detect failures. A layered intelligent control framework is developed containing these new sensor-based fault detection and tolerance schemes. The servo, interface, and supervisor layers form a hierarchy of fault tolerance which provide different levels of detection and tolerance probabilities for structurally diverse robots
Keywords :
fault location; intelligent control; redundancy; robots; analytical redundancy; fault tolerance; internal failures; layered dynamic fault detection; layered intelligent control; robots; sensor-based fault detection; tolerance probabilities; Fault detection; Fault tolerance; Fault tolerant systems; Humans; Orbital robotics; Redundancy; Robot control; Robot sensing systems; Servomechanisms; Space exploration;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292144
