Hostname: page-component-cd9895bd7-gbm5v Total loading time: 0 Render date: 2024-12-23T16:54:15.470Z Has data issue: false hasContentIssue false
  • English
  • Français

Adaptive actuator failure compensation for redundant manipulators

Published online by Cambridge University Press:  01 January 2009

E. Faruk Kececi ,
Xidong Tang  and
Gang Tao
E. Faruk Kececi*
Affiliation:
Department of Mechanical Engineering, Izmir Institute of Technology, 35430, Urla – Izmir, Turkey
Xidong Tang
Affiliation:
Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22903.
Gang Tao
Affiliation:
Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22903.
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of their use have been understood before, in this paper failure modeling, controller structure, and adaptive update rules for handling uncertainties from the actuator failures are studied. The adaptive actuator failure compensation method is then expanded for a cooperating multiple manipulator system with uncertain actuator failures. Dynamic equations of such a multiple manipulator system in the task space are derived and the adaptive actuator failure compensation problem is formulated in the task space, for which a compensation controller structure is proposed with stable adaptive parameter update laws. The adaptive control scheme is able to compensate for the uncertainties of system parameters and actuator failures in a more general sense. For both cases, closed-loop system stability and asymptotic tracking are proved, despite uncertain system failures.

Keywords

Actuator failure compensationAdaptive controller designRedundant manipulator failure compensation
Type
Article
Information
Robotica , Volume 27 , Issue 1 , January 2009 , pp. 19 - 28
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Choi, M. R., “Redundancy resolution by minimization of joint disturbance torque for independent joint controlled manipulators,” Int. Conf. Adv. Intell. Mechatronics 392–397 (1999).Google Scholar
2.Galicki, M., “The structure of time-optimal controls for kinematically redundant manipulators with end-effector path constraints,” Int. Conf. Robot. Autom. 1, 101–106 (1998).CrossRefGoogle Scholar
3.Li, L., Gruver, W. A., Zhang, Q. and Chen, W., “Real-time control of redundant robots subject to multiple criteria,” Int. Conf. Robot. Autom. 1, 115–120 (1998).CrossRefGoogle Scholar
4.Caccavale, F. and Walker, I. D., “Observer-based fault detection for robot manipulators,” Int. Conf. Robot. Autom. 4, 2881–2887 (1997).CrossRefGoogle Scholar
5.Shin, J. and Lee, J., “Fault detection and robust fault recovery control for robot manipulators with actuator failures,” Int. Conf. Robot. Autom. 2, 861–866 (1999).CrossRefGoogle Scholar
6.Dixon, W. E., Walker, I. D., Dawson, D. M. and Hartranft, J. P., “Fault detection for robot manipulators with parametric uncertainty: A prediction error based approach,” Int. Conf. Robot. Autom. 4, 3628–3634 (2000).Google Scholar
7.Vemuri, A.T., Polycarpou, M. M. and Diakourtis, S. A., “Neural network based fault detection in robotic manipulators,” Trans. Robot. Autom. 14 (2), 342–348 (1998).CrossRefGoogle Scholar
8.Ting, Y., Tosunoglu, S. and Fernandez, B., “Control algorithms for fault-tolerant robots,” Int. Conf. Robot. Autom. 2, 910–915 (1994).Google Scholar
9.Monteverde, V. and Tosunoglu, S., “Effect of kinematic structure and dual actuation on fault tolerance of robot manipulators,” Int. Conf. Robot. Autom. 4, 2902–2907 (1997).CrossRefGoogle Scholar
10.Morrell, J. B. and Salisbury, J. K., “Parallel-coupled micro-macro actuators,” Int. J. Robot. Res. 17 (7), 773–791 (1998).CrossRefGoogle Scholar
11.Kececi, E. F. and Tao, G., “Adaptive Actuator Failure Compensation for a Platform Manipulator,” Proceedings of the 6th Biennial Conference on Engineering Systems Design and Analysis ESDA2002, Istanbul, Turkey (July 8–11, 2002).Google Scholar
12.Feng, G. and Palaniswami, M., “Adaptive control of robot manipulators in task space,” Trans. Autom. Control 38 (1), 100–104 (1993).CrossRefGoogle Scholar
13.Jiang, Y. A., Clements, D. J., Hesketh, T. and Park, J. S., “Adaptive learning control of robot manipulators in task space,” Proc. Am. Control Conf. 1, 207–211 (1994).Google Scholar
14.Cheah, C. C., Kawamura, S., Arimoto, S. and Lee, K., “PID control of robotic manipulator with uncertain Jacobian matrix,” Int. Conf. Robot. and Autom. 1, 494–499 (1999).CrossRefGoogle Scholar
15.Mecrow, B. C., Jack, A. G., Haylock, J. A. and Coles, J., “Fault-tolerant permanent magnet machine drives,” Proc. Electr. Power Appl. 143 (6), 437–442 (1996).CrossRefGoogle Scholar
16.Ertugrul, N., Soong, W. L., Valtenbergs, S. and Chye, H., “Investigation of a fault tolerant and high performance motor drive for critical applications,” Int. Conf. Electr. Technol. 2, 542–548 (2001).Google Scholar
17.Tao, G., Chen, C. and Joshi, S. M., “An adaptive control scheme for systems with unknown actuator failures,” Proc. Am. Control Conf. 2, 1115–1120 (2001).Google Scholar
18.Tang, X., Tao, G. and Joshi, S. M., “Compensation of nonlinear MIMO systems for uncertain actuator failures with an application to aircraft control,” Proc. IEEE Conf. Decis. Control 2, 1245–1250 (2002).CrossRefGoogle Scholar
19.Kececi, F. and Nagel, H. H., “Machine-vision-based estimation of pose and size parameters from a generic workpiece description,” Int. Conf. Robot. Autom. 3, 2159–2164 (2001).Google Scholar
20.Xie, H., Bryson, I. J., Shadpey, F. and Patel, R. V., “A robust control scheme for dual-arm redundant manipulators: experimental results,” Int. Conf. Robot. Autom. 4, 2507–2512 (1999).Google Scholar
21.Jean, J. -H. and Fu, L. -C., “An adaptive control scheme for coordinated multi-manipulator systems,” Trans. Robot. Autom. 9 (2), 226–231 (1993).CrossRefGoogle Scholar
22.Spong, M. W. and Vidyasagar, M., Robot Dynamics and Control (John Wiley & Sons, New York, 1989).Google Scholar