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Fault tolerance operation of cooperative manipulators
conference contribution
posted on 2010-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Saeid Nahavandi, Zoran NajdovskiZoran NajdovskiAutonomous or teleoperation of critical tasks in space applications require fault tolerant robotic manipulators. These manipulators are able to maintain their tasks even if a joint fails. If it is presumed that the manipulator is fault tolerant on its trajectory, then the next step is to provide a fault tolerant force at the end-effector of the manipulator. The problem of cooperative fault tolerant force is addressed in this paper within the operation of two manipulators. The cooperative manipulators are used to compensate the force jump which occurs on the force of the end-effector of one manipulator due to a joint failure. To achieve fault tolerant operation, the contribution of the faulty joint for the force of the end-effector of the faulty manipulator is required to be optimally mapped into the torque of the faulty and healthy manipulators. The optimal joint torque reconfigurations of both manipulators for compensating this force jump are illustrated. The proposed frameworks are deployed for two cooperative PUMA560 manipulators. The results of the case studies validate the fault tolerant cooperation strategies.
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Event
The International Symposium on Artificial Intelligence, Robotics and Automation in Space (10th : 2010 : Sapporo, Japan)Pagination
144 - 151Publisher
i-SAIRASLocation
Sapporo, JapanPlace of publication
Sapporo, JapanStart date
2010-08-29End date
2010-09-01Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2010, i-SAIRASTitle of proceedings
i-SAIRAS 2010 : The International Symposium on Artificial Intelligence, Robotics and Automation in SpaceUsage metrics
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