Skip to main content
    • 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)

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.

Corresponding author
*Corresponding author. E-mail:
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.

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.

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).

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.

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).

Recommend this journal

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

  • 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? *



Full text views

Total number of HTML views: 0
Total number of PDF views: 20 *
Loading metrics...

Abstract views

Total abstract views: 140 *
Loading metrics...

* Views captured on Cambridge Core between September 2016 - 20th September 2017. This data will be updated every 24 hours.