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

Abdi, Hamid, Nahavandi, Saeid, Frayman, Yakov and Maciejewski, Anthony A. 2012, Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators, Robotica, vol. 30, no. 4, pp. 635-348.

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Title Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators
Author(s) Abdi, Hamid
Nahavandi, Saeid
Frayman, Yakov
Maciejewski, Anthony A.
Journal name Robotica
Volume number 30
Issue number 4
Start page 635
End page 348
Total pages 14
Publisher Cambridge University Press
Place of publication Cambridge, England
Publication date 2012-07
ISSN 0263-5747
1469-8668
Keyword(s) robotic manipulators
optimal fault tolerance
optimal joint velocity
actuator failures
redundancy resolution
dependability
self-reconfiguration
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.
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2011, Cambridge University Press
Persistent URL http://hdl.handle.net/10536/DRO/DU:30040552

Document type: Journal Article
Collections: Centre for Intelligent Systems Research
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