NDLI: Fault-tolerant control of redundant robots by dual-optimization

Content Provider	IEEE Xplore Digital Library
Author	Luya Li Gruver, W.A.
Copyright Year	1998
Description	Author affiliation: Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada (Luya Li)
Abstract	There is a need for robots that are more flexible and reliable than the fixed configuration models currently available. Redundant robots provide an alternative to satisfy this requirement because redundancy can be used to improve the kinematic performance and compensate for joint failures. Due to the uncertainty of potential failures and large accumulated path errors, the instantaneous joint torques may increase and exceed actuator limits during the system recovery process. We propose to alleviate this difficulty by the use of optimal redundancy control, an approach that simultaneously takes into account both kinematics and dynamics. To realize dual-optimization control, a dynamically redundant mechanism with local degrees of freedom is introduced, and its use for redundancy control is investigated. Simulation results demonstrate the proposed method.
Starting Page	336
Ending Page	341
File Size	454210
Page Count	6
File Format	PDF
ISBN	0780344650
DOI	10.1109/IROS.1998.724641
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-10-17
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fault tolerance Robot control Orbital robotics Fault tolerant systems Robot kinematics Redundancy Intelligent robots Optimal control Service robots Actuators
Content Type	Text
Resource Type	Article

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