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A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator

Zhan Li, Chunxu Li, Shuai Li Orcid Logo, Xinwei Cao

IEEE Transactions on Industrial Informatics, Volume: 16, Issue: 12, Pages: 7469 - 7478

Swansea University Author: Shuai Li Orcid Logo

Abstract

Nowadays industrial redundant manipulators have been playing important roles in manufacturing fields such as welding and assembling by performing repetitive and dull work. Such long-term industrial operations usually require redundant manipulators to keep good working conditions and maintain steadin...

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Published in: IEEE Transactions on Industrial Informatics
ISSN: 1551-3203 1941-0050
Published: Institute of Electrical and Electronics Engineers (IEEE) 2020
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa52973
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Abstract: Nowadays industrial redundant manipulators have been playing important roles in manufacturing fields such as welding and assembling by performing repetitive and dull work. Such long-term industrial operations usually require redundant manipulators to keep good working conditions and maintain steadiness of joint actuation. However, some joints of redundant manipulators may fall into fault status after enduring long-period heavy manipulations, causing that the desired industrial tasks can not be accomplished accurately. In this paper, we propose a novel fault-tolerant method with simultaneous fault-diagnose function for motion planning and control of industrial redundant manipulators. The proposed approach is able to adaptively localize which joints run away from the normal state to be fault, and it can guarantee to finish the desired path tracking control even when these fault joints lose their velocity to actuate. Simulation and experiment results on a Kuka LBR iiwa manipulator demonstrate the efficiency of the proposed fault-tolerant method for motion control of the redundant manipulator.
College: College of Engineering
Issue: 12
Start Page: 7469
End Page: 7478