A fault tolerance framework for cooperative robotic manipulators

In this chapter we present a fault tolerance framework for cooperative manipulators. The fault detection and isolation (FDI) system uses the kinematic constraints of the cooperative system and neural networks to detect and treat four categories of faults: free-swinging joint faults (FSJF), where one or more joints lose actuation and become free-swinging; locked joint faults (LJF), where one or more joints become locked; incorrectly-measured joint position faults (JPF), where the measurement of one or more joint positions is incorrect; and incorrectly-measured joint velocity faults (JVF), where the measurement of one or more joint velocities is incorrect. After the faults are detected by the FDI system, the control system is reconfigured according to the nature of the isolated fault and the manipulation task is resumed.

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