Lee, Yisoo und Tsagarakis, Nikos und Ott, Christian und Lee, Jinoh (2022) A Generalized Index for Fault-tolerant Control in Operational Space under Free-swinging Actuation Failure. IEEE Robotics and Automation Letters, 7 (2), Seiten 1486-1493. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3140425. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/9670733
Kurzfassung
Actuation failure and fault-tolerant control under the actuation failure scenario have drawn more attention in accordance with the recent increasing demand for reliable robot control applications such for long-term and remote operation. The emergence of control torque loss, i.e., the free-swinging failure, is particularly challenging when the robot performs dynamic operational space tasks due to complexities stemming from redundancies in the kinematic structure as well as a dynamical disturbance in the under-actuated multi-body system. To reinforce robustness and accuracy of task-space control under the failure condition, this letter proposes a performance index, named generalized failure-susceptibility (GFS), which is formulated to render thorough dynamic and kinematic effects caused by the un-actuated joints. The GFS index is then exploited with the hierarchical task controller, where self-motion is controlled to minimize the index in real-time. Several experiments with a seven-degrees-of-freedom torque-controlled robot verify that the proposed control strategy with the GFS index effectively improves fault tolerance against anticipating actuation failure.
elib-URL des Eintrags: | https://elib.dlr.de/148173/ | ||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
Titel: | A Generalized Index for Fault-tolerant Control in Operational Space under Free-swinging Actuation Failure | ||||||||||||||||||||
Autoren: |
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Datum: | 5 Januar 2022 | ||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
Band: | 7 | ||||||||||||||||||||
DOI: | 10.1109/LRA.2022.3140425 | ||||||||||||||||||||
Seitenbereich: | Seiten 1486-1493 | ||||||||||||||||||||
Herausgeber: |
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Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Failure detection and recovery, redundant Robots, underactuated robots | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Laufroboter/Lokomotion [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Lee, Dr. Jinoh | ||||||||||||||||||||
Hinterlegt am: | 11 Jan 2022 16:14 | ||||||||||||||||||||
Letzte Änderung: | 29 Jan 2024 13:15 |
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