Fault tolerance of robot manipulators

Farid Noureddine (1)

1 LGP - Laboratoire Génie de Production

This work is about the study of a fault tolerant rigid robot manipulator having five degrees of freedom. All the stages in the design of a fault tolerant system are described here. In order to simplify the fault detection process and isolation module only faults affecting joint 3 are considered. Fault accommodation relative to a locked joint 3 is established thanks to the kinematic redundancy of this robot.

Mots clés: Fault detection in robots; Fault detection and isolation; Fault accommodation; Fault tolerance; Robotics

Domaines: Robotique [cs.RO]

Farid Noureddine. Fault tolerance of robot manipulators. AVCS’04, International Conference on Advances in Vehicle Control and Safety, I3M, IFAC, Oct 2004, Genova, Italy. pp.0. ⟨hal-02872156⟩