[1]GUO Chongbin,HAO Kuangrong,DING Yongsheng.Hemostasis mechanism based precise faulttolerant control for redundant parallel manipulator[J].CAAI Transactions on Intelligent Systems,2012,7(4):321-326.
Copy

Hemostasis mechanism based precise faulttolerant control for redundant parallel manipulator

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 7 Number of periods: 2012 4 Page number: 321-326 Column: 学术论文—智能系统 Public date: 2012-08-25
Title:
Hemostasis mechanism based precise faulttolerant control for redundant parallel manipulator
Author(s):
GUO Chongbin1; 2;  HAO Kuangrong1; 2;  DING Yongsheng1; 2
1. College of Information Sciences and Technology, Donghua University, Shanghai 201620, China;
2. Engineering Research Center of Digitized Textile & Fashion Technology, Ministry of Education, Shanghai 201620, China
Keywords:
redundant parallel manipulator;  precise faulttolerant control;  physiological hemostasis mechanism;  mechanical clearance;  intelligent cooperative control
CLC:
TP242
DOI:
-
Abstract:
Due to redundancy fault tolerance, redundant parallel manipulator can continue working even when meeting some local faults. However, the manipulator’s mechanical clearance cannot be eliminated, and it is hard to establish a precise mechanical clearance model. Therefore, kinematic redundancybased conventional faulttolerant methods can hardly achieve precise faulttolerant control. Considering the control characteristic and mechanical clearance of the redundant parallel manipulator, based on the physiological hemostasis control mechanism, a novel precise faulttolerant controller (PFTC) is proposed. Similar to the hemostasis mechanism, the PFTC optimizes the subchannel, meanwhile, identifies global faults and makes faulttolerant compensation. A 2DOF redundant parallel manipulator was used for actual experiment. The result shows that comparing with conventional controller, the proposed PFTC owns better control precision and faulttolerant capability.
References:
［1］NOTASH L, HUANG L. On the design of fault tolerant parallel manipulators［J］. Mechanism and Machine Theory, 2003, 38(1): 85101.
［2］YI Y, MCINROY J E, CHEN Y. Fault tolerance of parallel manipulators using task space and kinematic redundancy［J］. IEEE Transactions on Robotics, 2006, 22(5): 10171021.
［3］NOTASH L. A methodology for actuator failure recovery in parallel manipulators［J］. Mechanism and Machine Theory, 2011, 46(4): 454465.
［4］UKIDVE C S, MCINROY J E, JAFARI F. Using redundancy to optimize manipulability of stewart platforms［J］. IEEE/ASME Transactions on Mechatronics, 2008, 13(4): 475479.
［5］SONG Q, YIN L. Robust adaptive fault accommodation for a robot system using a radial basis function neural network［J］. International Journal of Systems Science, 2001, 32(2): 195204.
［6］ZHANG K, JIANG B, STAROSWIECKI M. Dynamic output feedback fault tolerant controller design for TakagiSugeno fuzzy systems with actuator faults［J］. IEEE Transactions on Fuzzy Systems, 2010, 18(1): 194201.
［7］TINSR, TERRA M H, BERGERMAN M. A fault tolerance framework for cooperative robotic manipulators［J］. Control Engineering Practice, 2007, 15(5): 615625.
［8］TYURIN K V, KHANIN M A. Hemostasis as an optimal system［J］. Mathematical Biosciences, 2006, 204(2): 167184.
［9］郭崇滨, 郝矿荣,丁永生. 基于神经内分泌的并联机器人智能控制系统［J］. 机电工程, 2010(7): 14, 8.
GUO Chongbin, HAO Kuangrong, DING Yongsheng. Parallel robot intelligent control system based on neuroendocrine method［J］. Journal of Mechanical ＆ Electrical Engineering, 2010(7): 14, 8.
［10］ZHAO J, ZHANG K, YAO X. Study on fault tolerant workspace and fault tolerant planning algorithm based on optimal initial position for two spatial coordinating manipulators［J］. Mechanism and Machine Theory, 2006, 41(5): 584595.
［11］ROBERTS R G, YU H G, MACIEJEWSKI A A. Fundamental limitations on designing optimally faulttolerant redundant manipulators［J］. IEEE Transactions on Robotics, 2008, 24(5): 12241237.
［12］GUO C, HAO K, DING Y, et al. A positionvelocity cooperative intelligent controller based on the biological neuroendocrine system［J］. Lecture Notes in Computer Science, 2011, 6677(3): 112121.
［13］MCINROY J E, O’BRIEN J F, NEAT G W. Precise, faulttolerant pointing using a Stewart platform［J］. IEEE/ASME Transactions on Mechatronics, 1999, 4(1): 9195.
［14］ZHOU N, HAO K, GUO C, et al. Visual servo control system of 2DOF parallel robot［J］. Software Engineering and Knowledge Engineering: Theory and Practice, 2012, 114: 425433.
Similar References:

Memo

-

Last Update: 2012-09-26

Copyright © CAAI Transactions on Intelligent Systems