Fault Tolerant Control of Mechanical Manipulators: A Hybrid Systems Approach

Abstract In this article we present a hybrid systems approach for fault tolerant control of robot manipulators. Our method is based on a combination of fault detection and isolation, control reconfiguration, and control algorithms. The contribution of this work is the construction of a hybrid automaton for control reconfiguration, whose discrete states indicate the number of failed joints, and whose dynamic states are the positions of the joints. With thie proposed method, it is possible to make the manipulator’s end-effector reach any Cartesian configuration inside its workspace irrespective of the number of joint failures. This is a significant property for manipulators operating in environments where actuator repair is too costly or impossible, such as in space or deep-sea. Experimental results with a 3-link planar manipulator illustrate the proposed method.

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