Author:
Rong Yu,Dou Tianci,Zhang Xingchao
Abstract
Abstract. Resource coordination and allocation strategies are proposed to reduce the
probability of failure by aiming at the problem that the robot cannot
continue to work after joint failure. Firstly, the principal component
analysis method under unsupervised branches in machine learning is used to
analyze the reliability function and various indexes of the robot to obtain
the comprehensive evaluation function. Then, based on the fault-tolerant-control inverse-kinematics optimal algorithm, each joint can be scheduled by
weighted processing. Finally, the comprehensive evaluation function is used
as an index to evaluate the probability of fault occurrence, and the weight
is defined to realize the coordinated resource allocation of redundant
robots. Taking the planar four revolute joints (4R) redundant robot as an example, the algorithm
control is compared. Based on reasonable modeling and physical verification,
the results show that the method of optimal resource coordination and
allocation is effective.
Funder
Natural Science Foundation of Hebei Province
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
Reference31 articles.
1. Abdi, H. and Nahavandi, S.: Well-conditioned configurations of
fault-tolerant manipulators, Robot. Auton. Syst., 60, 242–251,
https://doi.org/10.1016/j.robot.2011.10.008, 2012.
2. Almarkhi, A. A. and MacIejewski, A. A.: Maximizing the Size of Self-Motion
Manifolds to Improve Robot Fault Tolerance, IEEE Robotics and Automation Letters, 4, 2653–2660, https://doi.org/10.1109/LRA.2019.2913994, 2019.
3. Almarkhi, A. A., MacIejewski, A. A., and Chong, E. K. P.: An Algorithm to
Design Redundant Manipulators of Optimally Fault-Tolerant Kinematic
Structure, IEEE Robotics and Automation Letters, 5, 4727–4734,
https://doi.org/10.1109/LRA.2020.3003282, 2020.
4. Ben-Gharbia, K. M., MacIejewski, A. A., and Roberts, R. G.: A kinematic
analysis and evaluation of planar robots designed from optimally
fault-tolerant Jacobians, IEEE T. Robot., 30, 516–524,
https://doi.org/10.1109/TRO.2013.2291615, 2014.
5. Cao, Y.: Research on Fault-Tolerant Control of Seven-axis Redundant
Manipulator, Southeast University, https://doi.org/10.27014/d.cnki.gdnau.2019.000935, 2019.