Effect of kinematic structure and dual actuation on fault tolerance of robot manipulators

Fault tolerance promises higher system reliability and safety for mechanical systems as it has for computer hardware and software, nuclear reactors and aircraft industry. This work addresses the fault tolerance capability gained by robotic manipulators as their design is enhanced by serial and parallel mechanisms, kinematic redundancy and dual actuators. As these design options improve a robotic system's tolerance to faults, it becomes necessary to evaluate the degree of fault tolerance gained by the system. This paper develops a measure for fault tolerance capability of a robotic system and provides several example robots to illustrate its use.

[1]  R. Isermann,et al.  Model base fault detection and diagnosis methods , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[2]  Tsuneo Yoshikawa,et al.  Dynamic manipulability of robot manipulators , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[3]  Joseph R. Cavallaro,et al.  Expert system framework for fault detection and fault tolerance in robotics , 1994 .

[4]  Delbert Tesar,et al.  Architectures for fault-tolerant mechanical systems , 1994, Proceedings of MELECON '94. Mediterranean Electrotechnical Conference.

[5]  Safety for Technical Processes,et al.  Fault detection, supervision, and safety for technical proceses : SAFEPROCESS'94 : IFAC symposium, Helsinki University of Technology, Espoo, Finland, 13-16 June 1994 , 1994 .

[6]  Delbert Tesar.  On the design of fault-tolerant robotic manipulator systems , 1993 .

[7]  A. A. Maciejewski,et al.  Dexterity optimization of kinematically redundant manipulators in the presence of joint failures , 1994 .

[8]  Joseph R. Cavallaro,et al.  A dynamic fault tolerance framework for remote robots , 1995, IEEE Trans. Robotics Autom..

[9]  Joseph R. Cavallaro,et al.  Layered dynamic fault detection and tolerance for robots , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[10]  Dan T. Horak.  System Failure Isolation in Dynamic Systems , 1990 .

[11]  Anthony A. Maciejewski.  Fault tolerant properties of kinematically redundant manipulators , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[12]  Charles A. Klein,et al.  Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators , 1987 .

[13]  Christiaan J. J. Paredis,et al.  Kinematic design of fault tolerant manipulators , 1992 .

[14]  Monteverde,et al.  Fault tolerance in robotics and mechanical systems: an introductory survey. , 1996 .

[15]  Yung Ting,et al.  Torque redistribution and time regulation methods for actuator of fault-tolerant parallel robots , 1995, J. Field Robotics.

[16]  John T. Chladek,et al.  Fault-tolerant joint development for the Space Shuttle remote manipulator system: analysis and experiment , 1993, IEEE Trans. Robotics Autom..

[17]  Yung Ting,et al.  A control structure for fault-tolerant operation of robotic manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[18]  R. Isermann.  INTEGRATION OF FAULT DETECTION AND DIAGNOSIS METHODS , .

[19]  Christiaan J. J. Paredis,et al.  Mapping tasks into fault tolerant manipulators , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.