Title :
Joint Fault-Tolerant Design of the Chinese Space Robotic Arm
Author :
Ni, F.L. ; Jin, M.H. ; Wang, H.L. ; Liu, H. ; Hirzinger, G.
Author_Institution :
Robot Res. Inst., Harbin Inst. of Technol.
Abstract :
In this paper, joint reliability design for the Chinese space robotic arm has been discussed. Redundant controller unit, redundant can bus communication unit and latch-up power protection unit have been outlined. The fault tree of the joint has been built. Moreover, the new algorithm of auto-adjust thresholding value has been presented for fault detection, and the fault-tolerant strategies of joint have been proposed. Experimental results demonstrate the effectiveness of the joint fault-tolerant design
Keywords :
aerospace robotics; control engineering computing; controller area networks; fault diagnosis; fault tolerance; fault trees; field programmable gate arrays; manipulator dynamics; redundant manipulators; servomechanisms; Chinese space robotic arm; FPGA; auto-adjust thresholding value; fault detection; fault tree; integrated joint servo system; joint fault-tolerant design; joint reliability design; latch-up power protection unit; redundant CAN bus communication unit; redundant controller unit; Circuits; Communication system control; Fault tolerance; Fault trees; Gears; Mechatronics; Orbital robotics; Power system protection; Redundancy; Space technology; CAN bus; FPGA; fault-detection; space robotic;
Conference_Titel :
Information Acquisition, 2006 IEEE International Conference on
Conference_Location :
Weihai
Print_ISBN :
1-4244-0528-9
Electronic_ISBN :
1-4244-0529-7
DOI :
10.1109/ICIA.2006.305789
