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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Reconfiguration of Redundant Joints for Fault Tolerance of a Servo Manipulator

여유 자유도를 갖는 서보 매니퓰레이터의 내고장 제어를 위한 재형상 기법

  • 박병석 (한국원자력연구소 원격취급장치개발) ;
  • 안성호 (한국원자력연구소 원격취급장치개발) ;
  • 윤지섭 (한국원자력연구소 원격취급장치개발)
  • Published : 2004.10.01
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Abstract

In this paper, fault tolerant algorithm is presented for a servo manipulator system. For fault tolerance of a servo manipulator system, reconfiguration algorithm accommodating a motor's failure has been presented. The algorithm considers a transport's degree of freedoms as redundant joints of a servo manipulator. The reconfiguration algorithm recovers the end effector's motion in spite of one motor's failure A modified pseudo inverse redistribution method has been proposed for the reconfiguration algorithm. Numerical examples and hardware tests have been presented to verify the proposed methods.

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References

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