Title: Fault tolerance in robotics

Authors: Farid Noureddine, Benoit Larroque, Frederic Rotella

Addresses: Laboratoire GEnie de Production, Ecole Nationale d'Ingenieurs de Tarbes, 47, avenue d'Azereix 65000 Tarbes, France. ' Laboratoire GEnie de Production, Ecole Nationale d'Ingenieurs de Tarbes, 47, avenue d'Azereix 65000 Tarbes, France. ' Laboratoire GEnie de Production, Ecole Nationale d'Ingenieurs de Tarbes, 47, avenue d'Azereix 65000 Tarbes, France

Abstract: This work is a contribution to illustrate the fault tolerance concepts in robotics. Every step from the analysis phase to the fault accommodation phase is presented. A fault on joint 3 is taken into account and simulated to validate the detection algorithms. The fault accommodation is thus considered and is based on the kinematic redundancy principle. The establishment of the inverse kinematic model, under some conditions of joint failure, enables the generation of an alternative trajectory to ensure the robot goes on functioning.

Keywords: fault tolerance; fault tolerant robotics; fault tolerant manipulators; fault analysis; fault detection and isolation; methods based fault detection; fault accommodation; kinematic redundancy; inverse kinematics; kinematic modelling; robot trajectories; robot kinematics.

DOI: 10.1504/IJMMS.2009.026045

International Journal of Mechatronics and Manufacturing Systems, 2009 Vol.2 No.3, pp.294 - 310

Available online: 26 May 2009 *

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