Decentralized autonomous mechanism for fault-tolerant control of a kinematically redundant manipulator

Author

Kimura, Shinichi ; Tuchiya, Shigeru ; Suzuki, Yuya

Author_Institution

Commun. Res. Lab., Minist. of Posts & Telecommun., Koganei, Japan

Volume

3

fYear

1995

fDate

22-25 Oct 1995

Firstpage

2540

Abstract

A decentralized autonomous control algorithm is proposed for a kinematically redundant manipulator to realize adaptability to partial failure. This algorithm was evaluated in a computer simulation of a 10-jointed manipulator. The manipulator which uses this control algorithm can autonomously adapt to various types of mechanical failure, such as low torque gain, torque limitation, and joint-lock in up to three joints. The adaptability to joint-lock was also evaluated in a task in a space robotics mission

Keywords

decentralised control; fault tolerant computing; manipulator kinematics; redundancy; 10-jointed manipulator; Space robotics mission; computer simulation; decentralized autonomous control algorithm; fault-tolerant control; joint-lock; kinematically redundant manipulator; low torque gain; partial failure adaptability; torque limitation; Automatic control; Biological control systems; Communication system control; Control systems; Fault tolerance; Kinematics; Manipulators; Orbital robotics; Robotics and automation; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.538164

Filename

538164