Skip to main content
×
Home
    • Aa
    • Aa

Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators

  • Hamid Abdi (a1) (a2), Saeid Nahavandi (a1), Yakov Frayman (a1) and Anthony A. Maciejewski (a2)
Abstract
SUMMARY

Self-reconfiguration of robotic manipulators under joint failure can be achieved via fault-tolerance strategies. Fault-tolerant manipulators are required to continue their end-effector motion with a minimum velocity jump, when failures occur to their joints. Optimal fault tolerance of the manipulators requires a framework that can map the velocity jump of the end-effector to the compensating joint velocity commands. The main objective of the present paper is to propose a general framework for the fault tolerance of the manipulators, which can minimize the end-effector velocity jump. In the present paper, locked joint failures of the manipulators are modeled using matrix perturbation methodology. Then, the optimal mapping for the faults with a minimum end-effector velocity jump is presented. On the basis of this mapping, the minimum end-effector velocity jump is calculated. A generalized framework is derived from the extension of optimal mapping toward multiple locked joint failures. Two novel expressions are derived representing the generalized optimal mapping framework and the generalized minimum velocity jump. These expressions are suitable for the optimal fault tolerance of the serial link redundant manipulators. The required conditions for a zero end-effector velocity jump of the manipulators are analyzed. The generalized framework in this paper is then evaluated for different failure scenarios for a 5-DOF planar manipulator and a 5-DOF spatial manipulator. The validation includes three case studies. While the first two are instantaneous studies, the third one is for the whole trajectory of the manipulators. From the results of these case studies, it is shown that, when locked joint faults occur, the faulty manipulator is able to optimally maintain its velocity with a zero end-effector velocity jump if the conditions of a zero velocity jump are hold.

Copyright
Corresponding author
*Corresponding author. E-mail: hamid.abdi@deakin.edu.au
Linked references
Hide All

This list contains references from the content that can be linked to their source. For a full set of references and notes please see the PDF or HTML where available.

2.M. Goel , A. A. Maciejewski , V. Balakrishnan and R. W. Proctor , “Failure tolerant teleoperation of a kinematically redundant manipulator: An experimental study,” IEEE Trans. Syst. Man Cyber. Part A: Syst. Humans 33, 758765 (2003).

3.B. M. Harpel , J. B. Dugan , I. D. Walker and J. R. Cavallaro , “Analysis of Robots for Hazardous Environments,” Proceedings of the Annual Reliability and Maintainability Symposium, Philadelphia, PA, USA (1997) pp. 111116.

4.R. Colbaugh and M. Jamshidi , “Robot manipulator control for hazardous waste-handling applications,” J. Robot. Syst. 9, 215250 (2007).

5.B. S. Dhillon , A. R. M. Fashandi and K. L. Liu , “Robot systems reliability and safety: A review,” J. Qual. Maint. Eng. 8 (2002).

8.S. Tosunoglu and V. Monteverde , “Kinematic and structural design assessment of fault-tolerant manipulators,” Intell. Autom. Soft Comput. 4, 261268 (1998).

9.L. Notash and L. Huang , “On the design of fault tolerant parallel manipulators,” Mech. Mach. Theory 38, 85101 (2003).

10.J. E. McInroy , J. F. O'Brien and G. W. Neat , “Precise, fault-tolerant pointing using a Stewart platform,” IEEE/ASME Trans. Mechatronics 4, 9195 (1999).

11.A. A. Maciejewski , “Fault Tolerant Properties of Kinematically Redundant Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati, OH, USA (1990) pp. 638642.

12.H. Abdi and S. Nahavandi , “Designing Optimal Fault Tolerant Jacobian for Robotic Manipulators,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montréal, Canada (2010) pp. 426431.

13.C. J. J. Paredis and P. K. Khosla , “Designing fault-tolerant manipulators: How many degrees of freedom?,” Int. J. Robot. Res. 15, 611628 (1996).

15.R. G. Roberts , “On the local fault tolerance of a kinematically redundant manipulator,” J. Robot. Syst. 13, 649661 (1998).

19.C. Carreras and I. D. Walker , “Interval methods for fault-tree analysis in robotics,” IEEE Trans. Reliab. 50, 311 (2001).

20.L. Notash , “Joint sensor fault detection for fault tolerant parallel manipulators,” J. Robot. Syst. 17, 149157 (2000).

24.C. J. J. Paredis and P. K. Khosla , “Fault tolerant task execution through global trajectory planning,” Reliab. Eng. Syst. Saf. 53, 225235 (1996).

25.Y. Chen , J. E. McInroy and Y. Yi , “Optimal, fault-tolerant mappings to achieve secondary goals without compromising primary performance,” IEEE Trans. Robot. Autom. 19, 680691 (2003).

26.R. G. Roberts , “The dexterity and singularities of an underactuated robot,” J. Robot. Syst. 18, 159169 (2001).

27.P. J. From and J. T. Gravdahl , “On the mobility and fault tolerance of closed chain manipulators with passive joints,” Model. Identif. Control 29, 151165 (2008).

29.R. G. Roberts , H. G. Yu and A. A. Maciejewski , “Fundamental limitations on designing optimally fault-tolerant redundant manipulators,” IEEE Trans. Robot. 24, 12241237 (2008).

30.M. Güdemann , F. Ortmeier and W. Reif , “Formal Modeling and Verification of Systems with Self-x Properties,” Autonomic and Trusted Computing, 4158, 3847 (2006).

34.C. L. Lewis and A. A. Maciejewski , “Fault tolerant operation of kinematically redundant manipulatorsfor locked joint failures,” IEEE Trans. Robot. Autom. 13, 622629 (1997).

36.R. G. Roberts and A. A. Maciejewski , “A local measure of fault tolerance for kinematically redundant manipulators,” IEEE Trans. Robot. Autom 12, 543552 (1996).

38.P. Croke , “A robotics toolbox for MATLAB,” IEEE Robot. Autom. Mag. 3, 2432 (1996).

39.J. Zhao , H. Jing and L. Nie , “Motion punning based on two new fault tolerant indexes for redundant manipulatorsChin. J. Mech. Eng. 17, 240243 (2004).

Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *
×

Keywords: