Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Fault-Tolerant Control for a Robot System Anticipating Joint Failures in the Presence of Uncertainties

불확실성의 존재에서 관절 고장을 가지는 로봇 시스템에 대한 강인한 내고장 제어

  • 신진호 (동의대학교 메카트로릭스공학과)
  • Published : 2003.10.01
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Abstract

This paper proposes a robust fault-tolerant control framework for robot manipulators to maintain the required performance and achieve task completion in the presence of both partial joint failures and complete joint failures and uncertainties. In the case of a complete joint failure or free-swinging joint failure causing the complete loss of torque on a joint, a fully-actuated robot manipulator can be viewed as an underactuated robot manipulator. To detect and identify a complete actuator failure, an on-line fault detection operation is also presented. The proposed fault-tolerant control system contains a robust adaptive controller overcoming partial joint failures based on robust adaptive control methodology, an on-line fault detector detecting and identifying complete joint failures, and a robust adaptive controller overcoming partial and complete joint failures, and so eventually it can face and overcome joint failures and uncertainties. Numerical simulations are conducted to validate the proposed robust fault-tolerant control scheme.

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References

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