Acceleration-level fault-tolerant scheme for redundant manipulator motion planning and control: Theoretics

• Published in: IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society pp. 6703 - 6708
• Main Authors: Yunong Zhang, Ziyu Yin, Huanchang Huang, Liangyu He, Long Jin
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2017
• Subjects: Acceleration; Fault tolerance; Fault tolerant systems; joint-acceleration level; Manipulators; motion planning and control; Planning; quadratic program (QP); redundant manipulator system
• DOI: 10.1109/IECON.2017.8217171

In this paper, to achieve the fault-tolerant capability for redundant manipulators, a dimension-reduction method is presented and investigated at the joint-acceleration level. By incorporating such a dimension-reduction method and the limits of joint angle, joint velocity as well as joint acceleration (i.e., the physical constraints on joints), an acceleration fault-tolerant scheme for redundant manipulator motion planning and control (or say, motion-planning-and-control, MPaC) is thus proposed and investigated. The scheme is then reformulated as a quadratic program (QP) subject to equality and bound constraints. For the online solution of the proposed scheme, the PLPE (piecewise-linear projection equation) oriented numerical algorithm is adopted to obtain the final QP solver. The derived QP resulting from the proposed scheme combines the abilities of fault tolerance, joints limits avoidance and repetitive motion, which can achieve the repetitive motion before and after the fault tolerance.