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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 Najdovski
Autonomous 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.



The International Symposium on Artificial Intelligence, Robotics and Automation in Space (10th : 2010 : Sapporo, Japan)


144 - 151




Sapporo, Japan

Place of publication

Sapporo, Japan

Start date


End date




Publication classification

E1 Full written paper - refereed

Copyright notice

2010, i-SAIRAS

Title of proceedings

i-SAIRAS 2010 : The International Symposium on Artificial Intelligence, Robotics and Automation in Space

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