여유 자유도에 대한 조종력 배분을 통한 원격작업용 서보 매니퓰레이터의 내고장 제어

Fault Tolerant Control of a Servo Manipulator for Teleoperation by Control Allocation to Redundant Joints

  • 발행 : 2004.04.01

초록

In this paper, fault tolerant mechanisms are presented for a servo manipulator system designed to operate in a hot cell. A hot cell is a sealed and shielded room to handle radioactive materials, and it is dangerous for people to work in the hot cell. So, remote operations are necessary to handle the radioactive materials in the hot cell. KAERI has developed a servo manipulator system to perform such remote operations. However, since electric components such as servo motors may fail by radiation, fault tolerant mechanisms have to be considered. For fault tolerance of the servo manipulator system, duplication mechanism increasing the reliability of the transport's driving motors and reconfiguration algorithm accommodating the slave's motor failure have been presented. The reconfiguration algorithm recovering the end effector's motion in spite of one motor's failure is based on control allocation redistributing redundant axes. The constrained optimization method and pseudo inverse method have been adopted for control allocation. Simulation examples and real test results have been presented to verify the Proposed methods.

키워드

참고문헌

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