• Journal of Institute of Control, Robotics and Systems
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• v.9 no.10
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• pp.755-767
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• 2003

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.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.513-518
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• 1998

In this paper, a robust fault-tolerant control scheme for robot manipulators overcoming actuator failures is presented. The joint(or actuator) fault considered in this paper is the free-swinging joint failure and causes the loss of torque on a joint. The presented fault-tolerant control framework includes a normal control with normal(non-failed) operation, a fault detection and a fault-tolerant control to achieve task completion. For both no uncertainty case and uncertainty case, a stable normal con-troller and an on-line fault detection scheme are presented. After the detection and identification of joint failures, the robot manipulator becomes the underactuated robot system with failed actuators. A robust adaptive control scheme of robot manipulators with the detected failed-actuators using the brakes equipped at the failed(passive) joints is proposed in the presence of parametric uncertainty and external disturbances. To illustrate the feasibility and validity of the proposed fault-tolerant control scheme, simulation results for a three-link planar robot arm with a failed joint are presented.

• Structural Engineering and Mechanics
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• v.63 no.5
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• pp.617-628
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• 2017

In order to study the failure mode and seismic behavior of the interior-joint in steel traditional-style buildings, a single beam-column joint and a double beam-column joint were produced according to the relevant building criterion of ancient architectural buildings and the engineering instances, and the dynamic horizontal loading test was conducted by controlling the displacement of the column top and the peak acceleration of the actuator. The failure process of the specimens was observed, the bearing capacity, ductility, energy dissipation capacity, strength and stiffness degradation of the specimens were analyzed by the load-displacement hysteresis curve and backbone curve. The results show that the beam end plastic hinge area deformed obviously during the loading process, and tearing fracture of the base metal at top and bottom flange of beam occurred. The hysteresis curves of the specimens are both spindle-shaped and plump. The ultimate loads of the single beam-column joint and double beam-column joint are 48.65 kN and 70.60 kN respectively, and the equivalent viscous damping coefficients are more than 0.2 when destroyed, which shows the two specimens have great energy dissipation capacity. In addition, the stiffness, bearing capacity and energy dissipation capacity of the double beam-column joint are significantly better than that of the single beam-column joint. The ductility coefficients of the single beam-column joint and double beam-column joint are 1.81 and 1.92, respectively. The cracks grow fast when subjected to dynamic loading, and the strength and stiffness degradation is also degenerated quickly.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.216-223
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• 2000

A robot arm with free joints has some advantages over conventional ones. A light weight and low power consumed arm can be made by a reduction of the number of joint actuators. And this arm can easily overcomes actuator failure due to unexpected accident. In general such underactuated arm does not have controllability because of the lack of joint actuators. The two-link arm with a free joint introduced in this paper is also uncontrollable in the sense of linear system theory. However, the linearized system sometimes can not represent the inherent dynamic behavior of the nonlinear system. In this paper the dynamic characteristics of the two-link arm with a free joint in view of global motion including damping and friction effect of the joints is investigated. In the case of considering only the damping effect, the controllable goal positions are confined to a specific trajectories. But in the case of considering the friction effect, the system can be controlled to arbitrary positions using the friction of the free joint as a holding brake. Also numerical example of position control is presented.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.2
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• pp.72-77
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• 2008

In this study, we propose and develop PDMS-based modular actuators. The microactuator which looks like a small insect uses thermal expansion power of the PDMS (polydimethylsiloxane; $sylgar^{(R)}$ 184 silicone elastomer). The PDMS-based microactuator provides a large displacement due to a high thermal expansion coefficient (approximately 310ppm). The microacruator with 1mm length $350{\mu}m$ width is optimized by using a numerical analysis. The shape of the PDMS actuatoris variously designed. They are placed at several positions to find the optimal position that provides a high transformation ratio. The PDMS-based microactuators are fabricated using a conventional micromaching technique. The fabricated microactuator is heated using a hot-plate. The actuator displacement is measured as a function of temperature from $27^{\circ}C$ to $300^{\circ}C$. The experimental results are compared to the simulation result. When heating temperature up to $300^{\circ}C$ is applied to the PDMS actuator, each V-groove-shaped joint is actuated $30{\mu}$ mat $300^{\circ}C$. Anotherdesign of the microactuator has a maximum displacement of about 656mm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.10
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• pp.424-429
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• 2018

In this study, an expansion joint that is susceptible to waterhammer was tested for its vibration durability. The operation data for the hydraulic actuator was the expansion length of the expansion joint when the waterhammer occurred. In the case of the vibration durability test, the internal temperature status of the expansion joint was assumed to be a stress factor and a lifespan prediction model was assumed to follow the Arrhenius model. A test was carried out by increasing the internal temperature status at $30^{\circ}C$, $50^{\circ}C$, and $65^{\circ}C$. By a linear transformation of the lifespan data for each temperature, a constant value and activation energy coefficient was induced for the Arrhenius equation and verified by comparing the value of a lifetime prediction model with the experimental value at $85^{\circ}C$. The failure modes of the ongoing or finished test were leakage, bellows separation, and internal deformation. In the future, a composite lifespan prediction model, including two more stress factors, will be developed.