Acceleration-level fault-tolerant scheme for redundant manipulator motion planning and control: Theoretics

Zhang, Yunong; Yin, Ziyu; Huang, Huanchang; He, Liangyu; Jin, Long

doi:10.1109/iecon.2017.8217171

Cited by 3 publications

(2 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to facilitate the solution, this fault-tolerant constraint is transformed to a QP problem. Zhang et al [20] also proposed a fault-tolerant scheme for redundant manipulator based on QP problem. The main focus of their work is on solving the problem at the acceleration level.…”

Section: Related Workmentioning

confidence: 99%

A Discrete Model-Free Scheme for Fault-Tolerant Tracking Control of Redundant Manipulators

Tan

Zhong

et al. 2022

IEEE Trans. Ind. Inf.

View full text Add to dashboard Cite

Fault tolerance is a critical requirement for robust motion control of redundant robotic manipulators. This task aims to endow the redundant manipulator with the capability to achieve the required path of end-effector in the condition that one or some of its joints' motion fail. Although many fault-tolerant control algorithms of redundant manipulator have been proposed in recent years. However, few of them are on the basis of the condition that the robotic model is unknown. The complexity of the calculation model limits the efficiency and portability of these algorithms. For the first time, we proposed a discrete model-free fault tolerant tracking control (DMFFTC) scheme of redundant manipulator, which takes into account the fault tolerance in the control system of redundant manipulator by formulating it into a quadratic programming (QP) framework. The core of the proposed scheme consists of a discrete kinematic estimator and a discrete QP solver, powered by which the fault-tolerant control problem is transformed into a unified computing problem relaxing the need of knowing the redundant manipulator's kinematic model. A discrete joint space observer is proposed for detection of the happening of faulty states. Extensive simulations and experiments based on a redundant manipulator are performed and analyzed to support the verification of the efficiency and effectiveness of the proposed scheme.

show abstract

Section: Related Workmentioning

confidence: 99%

A Discrete Model-Free Scheme for Fault-Tolerant Tracking Control of Redundant Manipulators

Tan

Zhong

et al. 2022

IEEE Trans. Ind. Inf.

View full text Add to dashboard Cite

show abstract

“…Li et al proposed a fault-tolerant constraint in the optimization criteria for motion planning for redundant manipulators [20], and the coefficient matrix for the constraint is constructed to be sparse with normal and fault states as entries. Zhang et al proposed an acceleration-level faulttolerant scheme for redundant manipulator motion planning by incorporating a reduced dimension style [21]. Li et al proposed a fault-tolerant motion planning method to make the initial position errors fast converge to zero [22].…”

Section: Introductionmentioning

confidence: 99%

A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator

Zhan

et al. 2020

IEEE Trans. Ind. Inf.

View full text Add to dashboard Cite

Nowadays industrial redundant manipulators have been playing important roles in manufacturing fields such as welding and assembling by performing repetitive and dull work. Such long-term industrial operations usually require redundant manipulators to keep good working conditions and maintain steadiness of joint actuation. However, some joints of redundant manipulators may fall into fault status after enduring longperiod heavy manipulations, causing that the desired industrial tasks can not be accomplished accurately. In this paper, we propose a novel fault-tolerant method with simultaneous faultdiagnose function for motion planning and control of industrial redundant manipulators. The proposed approach is able to adaptively localize which joints run away from the normal state to be fault, and it can guarantee to finish the desired path tracking control even when these fault joints lose their velocity to actuate. Simulation and experiment results on a Kuka LBR iiwa manipulator demonstrate the efficiency of the proposed faulttolerant method for motion control of the redundant manipulator.

show abstract

Fault-Tolerant Kinematic Control of Redundant Manipulators With Joint Failures Under Joint Velocity Disturbances

Li,

Cui

2024

IEEE Trans. Circuits Syst. II

View full text Add to dashboard Cite

Acceleration-level fault-tolerant scheme for redundant manipulator motion planning and control: Theoretics

Cited by 3 publications

References 21 publications

A Discrete Model-Free Scheme for Fault-Tolerant Tracking Control of Redundant Manipulators

A Discrete Model-Free Scheme for Fault-Tolerant Tracking Control of Redundant Manipulators

A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator

Fault-Tolerant Kinematic Control of Redundant Manipulators With Joint Failures Under Joint Velocity Disturbances

Contact Info

Product

Resources

About