Joint Fault-Tolerant Design of the Chinese Space Robotic Arm

Author

Ni, F.L. ; Jin, M.H. ; Wang, H.L. ; Liu, H. ; Hirzinger, G.

Author_Institution

Robot Res. Inst., Harbin Inst. of Technol.

fYear

2006

fDate

20-23 Aug. 2006

Firstpage

528

Lastpage

533

Abstract

In this paper, joint reliability design for the Chinese space robotic arm has been discussed. Redundant controller unit, redundant can bus communication unit and latch-up power protection unit have been outlined. The fault tree of the joint has been built. Moreover, the new algorithm of auto-adjust thresholding value has been presented for fault detection, and the fault-tolerant strategies of joint have been proposed. Experimental results demonstrate the effectiveness of the joint fault-tolerant design

Keywords

aerospace robotics; control engineering computing; controller area networks; fault diagnosis; fault tolerance; fault trees; field programmable gate arrays; manipulator dynamics; redundant manipulators; servomechanisms; Chinese space robotic arm; FPGA; auto-adjust thresholding value; fault detection; fault tree; integrated joint servo system; joint fault-tolerant design; joint reliability design; latch-up power protection unit; redundant CAN bus communication unit; redundant controller unit; Circuits; Communication system control; Fault tolerance; Fault trees; Gears; Mechatronics; Orbital robotics; Power system protection; Redundancy; Space technology; CAN bus; FPGA; fault-detection; space robotic;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Acquisition, 2006 IEEE International Conference on

Conference_Location

Weihai

Print_ISBN

1-4244-0528-9

Electronic_ISBN

1-4244-0529-7

Type

conf

DOI

10.1109/ICIA.2006.305789

Filename

4097993