Fault tolerance in robotics | Zendy

Farid Noureddine | Zendy; Benoît Larroque | Zendy; F. Rotella | Zendy

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Fault tolerance in robotics

Author(s) -

Farid Noureddine,

Benoît Larroque,

F. Rotella

Publication year - 2009

Publication title -

international journal of mechatronics and manufacturing systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.183

H-Index - 14

eISSN - 1753-1047

pISSN - 1753-1039

DOI - 10.1504/ijmms.2009.026045

Subject(s) - robotics , redundancy (engineering) , kinematics , artificial intelligence , fault tolerance , control engineering , fault (geology) , engineering , accommodation , robot , computer science , control theory (sociology) , reliability engineering , psychology , physics , control (management) , classical mechanics , seismology , geology , neuroscience

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.

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