Safety Operation of n-DOF Serial Hydraulic Manipulator in Constrained Motion with Consideration of Contact-Loss Fault

Abstract

In consideration of accidental contact-loss due to step-change or accidentally moving out of a constrained framework, this paper focuses on solving this problem during working processes of an n-degree-of-freedom hydraulic manipulator (n-DOF manipulator). In order to overcome this phenomenon, a fault detection methodology-based virtual energy tank is employed with a shaping function to prevent the end-effector from damage or unexpected motion. This technique helps to detect when the contact-loss happens by a virtual energy variable; thus, decoupling a force control regulation. Moreover, a new trajectory for smooth motion after contact-loss detection is also discussed to increase system robustness. Additionally, to enhance tracking performance, adaptive laws are designed to compensate for system uncertainties. Comparative simulations are given on the n-DOF hydraulic manipulator to evaluate effectiveness of the impedance-based energy tank methodology under the sudden step-changed environment. Moreover, influences of control gains and setup energy parameters to the system behaviors when contact-loss happens are remarkably discussed as indispensable criteria for further development. The simulated results certified the superior effectiveness and reliability of the suggested methodology over the conventional impedance control for safe operation.