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A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator

Zhan Li, Chunxu Li Orcid Logo, Shuai Li Orcid Logo, Xinwei Cao

IEEE Transactions on Industrial Informatics, Volume: 16, Issue: 12, Pages: 7469 - 7478

Swansea University Authors: Chunxu Li Orcid Logo, Shuai Li Orcid Logo

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DOI (Published version): 10.1109/tii.2019.2957186

Abstract

Nowadays industrial redundant manipulators have been playing important roles in manufacturing fields such as welding and assembling by performing repetitive and dull work. Such long-term industrial operations usually require redundant manipulators to keep good working conditions and maintain steadin...

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Published in: IEEE Transactions on Industrial Informatics
ISSN: 1551-3203 1941-0050
Published: Institute of Electrical and Electronics Engineers (IEEE) 2020
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URI: https://cronfa.swan.ac.uk/Record/cronfa52973
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first_indexed 2019-12-05T13:16:14Z
last_indexed 2020-12-15T04:15:03Z
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spelling v2 52973 2019-12-05 A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator e6ed70d02c25b05ab52340312559d684 0000-0001-7851-0260 Chunxu Li Chunxu Li true false 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2019-12-05 FGSEN Nowadays industrial redundant manipulators have been playing important roles in manufacturing fields such as welding and assembling by performing repetitive and dull work. Such long-term industrial operations usually require redundant manipulators to keep good working conditions and maintain steadiness of joint actuation. However, some joints of redundant manipulators may fall into fault status after enduring long-period heavy manipulations, causing that the desired industrial tasks can not be accomplished accurately. In this paper, we propose a novel fault-tolerant method with simultaneous fault-diagnose function for motion planning and control of industrial redundant manipulators. The proposed approach is able to adaptively localize which joints run away from the normal state to be fault, and it can guarantee to finish the desired path tracking control even when these fault joints lose their velocity to actuate. Simulation and experiment results on a Kuka LBR iiwa manipulator demonstrate the efficiency of the proposed fault-tolerant method for motion control of the redundant manipulator. Journal Article IEEE Transactions on Industrial Informatics 16 12 7469 7478 Institute of Electrical and Electronics Engineers (IEEE) 1551-3203 1941-0050 1 12 2020 2020-12-01 10.1109/tii.2019.2957186 COLLEGE NANME Science and Engineering - Faculty COLLEGE CODE FGSEN Swansea University 2024-04-10T09:27:50.2544063 2019-12-05T11:40:57.8380522 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Zhan Li 1 Chunxu Li 0000-0001-7851-0260 2 Shuai Li 0000-0001-8316-5289 3 Xinwei Cao 4
title A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator
spellingShingle A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator
Chunxu Li
Shuai Li
title_short A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator
title_full A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator
title_fullStr A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator
title_full_unstemmed A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator
title_sort A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator
author_id_str_mv e6ed70d02c25b05ab52340312559d684
42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv e6ed70d02c25b05ab52340312559d684_***_Chunxu Li
42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Chunxu Li
Shuai Li
author2 Zhan Li
Chunxu Li
Shuai Li
Xinwei Cao
format Journal article
container_title IEEE Transactions on Industrial Informatics
container_volume 16
container_issue 12
container_start_page 7469
publishDate 2020
institution Swansea University
issn 1551-3203
1941-0050
doi_str_mv 10.1109/tii.2019.2957186
publisher Institute of Electrical and Electronics Engineers (IEEE)
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 0
active_str 0
description Nowadays industrial redundant manipulators have been playing important roles in manufacturing fields such as welding and assembling by performing repetitive and dull work. Such long-term industrial operations usually require redundant manipulators to keep good working conditions and maintain steadiness of joint actuation. However, some joints of redundant manipulators may fall into fault status after enduring long-period heavy manipulations, causing that the desired industrial tasks can not be accomplished accurately. In this paper, we propose a novel fault-tolerant method with simultaneous fault-diagnose function for motion planning and control of industrial redundant manipulators. The proposed approach is able to adaptively localize which joints run away from the normal state to be fault, and it can guarantee to finish the desired path tracking control even when these fault joints lose their velocity to actuate. Simulation and experiment results on a Kuka LBR iiwa manipulator demonstrate the efficiency of the proposed fault-tolerant method for motion control of the redundant manipulator.
published_date 2020-12-01T09:27:47Z
_version_ 1795935612689186816
score 11.037056

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