期刊
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
卷 16, 期 12, 页码 7469-7478出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TII.2019.2957186
关键词
Manipulators; Planning; Fault tolerant systems; Kinematics; Motion control; Redundancy; Joint failure; motion planning; redundant manipulator
类别
资金
- National Natural Science Foundation of China [61603078]
- Fundamental Funds for the Central Universities
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 long-period heavy manipulations, causing that the desired industrial tasks cannot be accomplished accurately. In this article, we propose a novel fault-tolerant method with simultaneous fault-diagnose 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 fault-tolerant method for motion control of the redundant manipulator.
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