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A Generalized Index for Fault-tolerant Control in Operational Space under Free-swinging Actuation Failure

Lee, Yisoo and Tsagarakis, Nikos and Ott, Christian and 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), pp. 1486-1493. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3140425. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)
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Official URL: https://ieeexplore.ieee.org/document/9670733

Abstract

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.

Item URL in elib:https://elib.dlr.de/148173/
Document Type:Article
Title:A Generalized Index for Fault-tolerant Control in Operational Space under Free-swinging Actuation Failure
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Lee, YisooKorea Institute of Science and Technology (KIST)UNSPECIFIED
Tsagarakis, NikosIstituto Italiano di Tecnologia (IIT)UNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Lee, JinohJinoh.Lee (at) dlr.dehttps://orcid.org/0000-0002-4901-7095
Date:5 January 2022
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:7
DOI :10.1109/LRA.2022.3140425
Page Range:pp. 1486-1493
Editors:
EditorsEmailEditor's ORCID iD
Asfour, TamimInstitute for Anthropomatics and RoboticsUNSPECIFIED
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Failure detection and recovery, redundant Robots, underactuated robots
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:11 Jan 2022 16:14
Last Modified:28 Feb 2022 09:17

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