Abstract
Emerging applications of autonomous robots requiring stability and reliability cannot afford component failure to achieve operational objectives. Hence, identification and countermeasure of a fault is of utmost importance in mechatronics community. This research proposes a Fault-tolerant control (FTC) for a robot manipulator, which is based on a hybrid control scheme that uses an observer as well as a hardware redundancy strategy to improve the performance and efficiency in the presence of actuator and sensor faults. Considering a five Degree of Freedom (DoF) robotic manipulator, a dynamic LuGre friction model is derived which forms the basis for design of control law. For actuator’s and sensor’s FTC, an adaptive back-stepping methodology is used for fault estimation and the nominal control law is used for the controller reconfiguration and observer is designed. Fault detection is accomplished by comparing the actual and observed states, pursued by fault tolerant method using redundant sensors. The results affirm the effectiveness of the proposed FTC strategy with model-based friction compensation. Improved tracking performance as well robustness in the presence of friction and fault demonstrate the efficiency of the proposed control approach.
Highlights
The state-of-the-art robots have been widely used in distinctive services for humankind
The intermittent fault starting at 3 seconds in shoulder joint of robot manipulator which is effecting the system performance but Fault-tolerant control (FTC) methodology is accommodating the intermittent fault with better stability
The actuator and sensor FTC are proposed in this article for ED-7220C robot manipulator considering with friction using dyanmic model
Summary
The state-of-the-art robots have been widely used in distinctive services for humankind. Robotic manipulators are currently installed in many industrial applications to perform various tasks [1]. The industries like medicine and surgery, pharmaceutical, military security, manufacturing and space exploration etc., are using industrial and service robots at different levels to facilitate human beings. Small industrial tasks including welding, assembling, and sorting can be accomplished using robots [2]. With the enormous increase in robots applications in daily life, researchers are working on challenges which improve the performance of these robots. The increasing capability of performing complex tasks is making autonomous systems prompt to malfunction in accomplishing specific applications. To achieve the stability and better performance of system, control theory has been extensively established and applied
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