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http://dx.doi.org/10.5302/J.ICROS.2003.9.10.755

Robust Fault-Tolerant Control for a Robot System Anticipating Joint Failures in the Presence of Uncertainties  

신진호 (동의대학교 메카트로릭스공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.10, 2003 , pp. 755-767 More about this Journal
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.
Keywords
robust fault-tolerant control system; joint(actuator) failure; robust adaptive control; underactuated robots;
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