Review of the Fault-Tolerant Strategy for Space Manipulators With Joint Failure

Abstract

The fault-tolerant strategy of space manipulator is very important to guarantee the task completion and safety after locked joint failure (LJF) occurs. According to the different research stages, the fault-tolerant strategy of the space manipulator with locked joint failure (SMLJF) is divided into the fault-tolerant strategy in design stage and use stage. In view of the fault-tolerant strategy in the design phase, the system-level design and component-level design are reviewed, the fault-tolerant design methods of the structure and joints of the space manipulator are introduced, and the problems existing in these methods are pointed out. In view of the fault-tolerant strategy in the use phase, it can be divided into fault-tolerant strategy before and after LJF, respectively. The fault-tolerant strategy before LJF such as artificial joint limits, global fault-tolerant path planning, and the fault-tolerant strategy after LJF including online fault-tolerant strategy and offline fault-tolerant strategy is reviewed in detail. The current research status of fault-tolerant strategy for SMLJF is introduced systematically, and the problems of these strategies are also detailly analyzed in this paper. Finally, all the existing problems of fault-tolerant strategy for SMLJF are summarized, and the research direction of fault-tolerant strategy is prospected.