Distributed Operation Health Monitoring for Modular and Reconfigurable Robot With Consideration of Actuation Limitation

Fan Zhou,Guangjun Liu,Yuanchun Li

doi:10.1109/access.2020.2979512

Fan Zhou, Guangjun Liu + Show 1 more

Open Access

https://doi.org/10.1109/access.2020.2979512

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Abstract

A distributed operation health monitoring (OHM) method of modular and reconfigurable robot (MRR) is presented in this paper. The proposed method is shown to be able to monitor the health of each MRR joint module based on the deviation of the actuator output from what is commanded. Driven by the desire of avoiding the need of joint acceleration measurement, a novel health indicator that reflects the operation health of an MRR module is developed by filtering the commanded joint torque generated by the joint controller and comparing it with a filtered torque estimate derived from the dynamic model of MRR. The proposed approach can work effectively for MRR modules in any working mode, including stationary state. The proposed scheme has been evaluated experimentally, and the results demonstrate its efficacy.

Highlights

As modular and reconfigurable robots (MRRs) can fulfill numerous tasks by adjusting its configuration and task spaces, they have the advantages of versatility, flexibility, and adaptability, making them promising for various applications [1]
Drawing on the results presented in [20], which is not applicable to manipulators working in no power output state, such as in stationary state, the proposed approach can be applied to MRR modules in any working mode
A distributed operation health monitoring (OHM) scheme has been presented for MRRs

Summary

INTRODUCTION

As modular and reconfigurable robots (MRRs) can fulfill numerous tasks by adjusting its configuration and task spaces, they have the advantages of versatility, flexibility, and adaptability, making them promising for various applications [1]. Operation health monitoring (OHM) determines the health of each joint module of MRR based on the input limits of the actuator. The proposed method is devoted to monitoring the health of each MRR joint module during any state using the deviation between the commanded output and delivery of the actuator. Different from FDD or FDI method, which may obtain accurate fault information, but cannot detect whether the commanded torque generated exceeds the input limit of the actuator, the proposed OHM method can detect the operation health of an MRR module by developing a novel health indicator, and stop working timely when the command torque exceeds input torque allowable range of the actuator, making the system more secure and reliable. The dynamic equation (8) is expressed as follows: Imiγiqi + Yi (qi) θi + δi +

ANALYSIS OF UNHEALTHY SITUATIONS

MODULE SYSTEM OPERATION HEALTH MONITORING

EXPERIMENTS AND DISCUSSIONS

CONCLUSION