Kinematic design and motion planning of fault tolerant robots with locked joint failures

2019 Summer.Includes bibliographical references.The problem of kinematic design and motion planning of fault tolerant robots with locked joint failure is studied in this work. In kinematic design, the problem of designing optimally fault tolerant robots for equal joint failure probabilities is first explored. A measure of local fault tolerance for equal joint failure probabilities has previously been defined based on the properties of the singular values of the Jacobian matrix. Based on this measure, one can determine a Jacobian that is optimal. Because these measures are solely based on the singular values of the Jacobian, permutation of the columns does not affect the optimality. Therefore, when one generates a kinematic robot design from this optimal Jacobian, there will be 7! robot designs with the same locally optimal fault tolerant property. This work shows how to analyze and organize the kinematic structure of these 7! designs in terms of their Denavit and Hartenberg (DH) parameters. Furthermore, global fault tolerant measures are defined in order to evaluate the different designs. It is shown that robot designs that are very similar in terms of DH parameters, e.g., robots generated from Jacobians where the columns are in reverse order, can have very different global properties. Finally, a computationally efficient approach to calculate the global pre- and post-failure dexterity measures is presented and used to identify two Pareto optimal robot designs. The workspaces for these optimal designs are also shown. Then, the problem of designing optimally fault tolerant robots for different joint failure probabilities is considered. A measure of fault tolerance for different joint failure probabilities is defined based on the properties of the singular values of the Jacobian after failures. Using this measure, methods to design optimally fault tolerant robots for an arbitrary set of joint failure probabilities and multiple cases of joint failure probabilities are introduced separately. Given an arbitrary set of joint failure probabilities, the optimal null space that optimizes the fault tolerant measure is derived, and the associated isotropic Jacobians are constructed. The kinematic parameters of the optimally fault tolerant robots are then generated from these Jacobians. One special case, i.e., how to construct the optimal Jacobian of spatial 7R robots for both positioning and orienting is further discussed. For multiple cases of joint failure probabilities, the optimal robot is designed through optimizing the sum of the fault tolerant measures for all the possible joint failure probabilities. This technique is illustrated on planar 3R robots, and it is shown that there exists a family of optimal robots. After the optimally fault tolerant robots are designed, the problem of planning the optimal trajectory with minimum probability of task failure for a set of point-to-point tasks, after experiencing locked joint failures, is studied. The proposed approach first develops a method to calculate the probability of task failure for an arbitrary trajectory, where the trajectory is divided into small segments, and the probability of task failure of each segment is calculated based on its failure scenarios. Then, a motion planning algorithm is proposed to find the optimal trajectory with minimum probability of task failure. There are two cases. The trajectory in the first case is the optimal trajectory from the start configuration to the intersection of the bounding boxes of all the task points. In the other case, all the configurations along the self-motion manifold of task point 1 need to be checked, and the optimal trajectory is the trajectory with minimum probability of task failure among them. The proposed approach is demonstrated on planar 2R redundant robots, illustrating the effectiveness of the algorithm

A Kinematic Analysis and Evaluation of Planar Robots Designed From Optimally Fault-Tolerant Jacobians Khaled M. Ben-Gharbia, Student Member, IEEE,

Abstract—It is common practice to design a robot’s kinematics from the desired properties that are locally specified by a manipulator Jacobian. In this work, the desired property is fault tolerance, defined as the postfailure Jacobian possessing the largest possible minimum singular value over all possible locked-joint failures. A mathematical analysis based on the Gram matrix that describes the number of possible planar robot designs for optimally fault-tolerant Jacobians is presented. It is shown that rearranging the columns of the Jacobian or multiplying one or more of the columns of the Jacobian by ±1 will not affect local fault tolerance; however, this will typically result in a very different manipulator. Two examples, one that is optimal to a single joint failure and the second that is optimal to two joint failures, are analyzed. This analysis shows that there is a large variability in the global kinematic properties of these designs, despite being generated from the same Jacobian. It is especially surprising that major differences in global behavior occurs for manipulators that are identical in the working area. Index Terms—Fault-tolerant robots, robot kinematics, redundant robots. I

Modifying the Kinematic Structure of an Anthropomorphic Arm to Improve Fault Tolerance

Abstract-It is well known that anthropomorphic manipulators, such as the PA-10, are intolerant to a single locked joint failure of the elbow. This is because the elbow is the only joint that can change the distance between the spherical shoulder joint and the spherical wrist. In this work, it is shown how such arms can be made significantly more fault tolerant by a minor modification to the kinematic structure of the arm. We quantify the degree of fault tolerance to locked joint failures as the minimum of the smallest singular value of the resulting seven Jacobians over all possible single failures. The DH parameters for the modified arm are designed so that the corresponding fault tolerant properties are close to those of a robot with an optimally failure tolerant Jacobian. The fault tolerance of the designed robot is evaluated for two different classes of applications, i.e., point-to-point motions and specified end-effector trajectories

Design and control of kinematically redundant robots for maximizing failure-tolerant workspaces

2021 Spring.Includes bibliographical references.Kinematically redundant robots have extra degrees of freedom so that they can tolerate a joint failure and still complete an assigned task. Previous work has defined the "failure-tolerant workspace" as the workspace that is guaranteed to be reachable both before and after an arbitrary locked-joint failure. One mechanism for maximizing this workspace is to employ optimal artificial joint limits prior to a failure. This dissertation presents two techniques for determining these optimal artificial joint limits. The first technique is based on the gradient ascent method. The proposed technique is able to deal with the discontinuities of the gradient that are due to changes in the boundaries of the failure tolerant workspace. This technique is illustrated using two examples of three degree-of-freedom planar serial robots. The first example is an equal link length robot where the optimal artificial joint limits are computed exactly. In the second example, both the link lengths and artificial joint limits are determined, resulting in a robot design that has more than twice the failure-tolerant area of previously published locally optimal designs. The second technique presented in this dissertation is a novel hybrid technique for estimating the failure-tolerant workspace size for robots of arbitrary kinematic structure and any number of degrees of freedom performing tasks in a 6D workspace. The method presented combines an algorithm for computing self-motion manifold ranges to estimate workspace envelopes and Monte-Carlo integration to estimate orientation volumes to create a computationally efficient algorithm. This algorithm is then combined with the coordinate ascent optimization technique to determine optimal artificial joint limits that maximize the size of the failure-tolerant workspace of a given robot. This approach is illustrated on multiple examples of robots that perform tasks in 3D planar and 6D spatial workspaces

Parallel Manipulators

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

Proceedings of the NASA Conference on Space Telerobotics, volume 1

The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty

Combining Sensors and Multibody Models for Applications in Vehicles, Machines, Robots and Humans

The combination of physical sensors and computational models to provide additional information about system states, inputs and/or parameters, in what is known as virtual sensing, is becoming increasingly popular in many sectors, such as the automotive, aeronautics, aerospatial, railway, machinery, robotics and human biomechanics sectors. While, in many cases, control-oriented models, which are generally simple, are the best choice, multibody models, which can be much more detailed, may be better suited to some applications, such as during the design stage of a new product

A continuum robotic platform for endoscopic non-contact laser surgery: design, control, and preclinical evaluation

The application of laser technologies in surgical interventions has been accepted in the clinical domain due to their atraumatic properties. In addition to manual application of fibre-guided lasers with tissue contact, non-contact transoral laser microsurgery (TLM) of laryngeal tumours has been prevailed in ENT surgery. However, TLM requires many years of surgical training for tumour resection in order to preserve the function of adjacent organs and thus preserve the patient’s quality of life. The positioning of the microscopic laser applicator outside the patient can also impede a direct line-of-sight to the target area due to anatomical variability and limit the working space. Further clinical challenges include positioning the laser focus on the tissue surface, imaging, planning and performing laser ablation, and motion of the target area during surgery. This dissertation aims to address the limitations of TLM through robotic approaches and intraoperative assistance. Although a trend towards minimally invasive surgery is apparent, no highly integrated platform for endoscopic delivery of focused laser radiation is available to date. Likewise, there are no known devices that incorporate scene information from endoscopic imaging into ablation planning and execution. For focusing of the laser beam close to the target tissue, this work first presents miniaturised focusing optics that can be integrated into endoscopic systems. Experimental trials characterise the optical properties and the ablation performance. A robotic platform is realised for manipulation of the focusing optics. This is based on a variable-length continuum manipulator. The latter enables movements of the endoscopic end effector in five degrees of freedom with a mechatronic actuation unit. The kinematic modelling and control of the robot are integrated into a modular framework that is evaluated experimentally. The manipulation of focused laser radiation also requires precise adjustment of the focal position on the tissue. For this purpose, visual, haptic and visual-haptic assistance functions are presented. These support the operator during teleoperation to set an optimal working distance. Advantages of visual-haptic assistance are demonstrated in a user study. The system performance and usability of the overall robotic system are assessed in an additional user study. Analogous to a clinical scenario, the subjects follow predefined target patterns with a laser spot. The mean positioning accuracy of the spot is 0.5 mm. Finally, methods of image-guided robot control are introduced to automate laser ablation. Experiments confirm a positive effect of proposed automation concepts on non-contact laser surgery.Die Anwendung von Lasertechnologien in chirurgischen Interventionen hat sich aufgrund der atraumatischen Eigenschaften in der Klinik etabliert. Neben manueller Applikation von fasergeführten Lasern mit Gewebekontakt hat sich die kontaktfreie transorale Lasermikrochirurgie (TLM) von Tumoren des Larynx in der HNO-Chirurgie durchgesetzt. Die TLM erfordert zur Tumorresektion jedoch ein langjähriges chirurgisches Training, um die Funktion der angrenzenden Organe zu sichern und damit die Lebensqualität der Patienten zu erhalten. Die Positionierung des mikroskopis chen Laserapplikators außerhalb des Patienten kann zudem die direkte Sicht auf das Zielgebiet durch anatomische Variabilität erschweren und den Arbeitsraum einschränken. Weitere klinische Herausforderungen betreffen die Positionierung des Laserfokus auf der Gewebeoberfläche, die Bildgebung, die Planung und Ausführung der Laserablation sowie intraoperative Bewegungen des Zielgebietes. Die vorliegende Dissertation zielt darauf ab, die Limitierungen der TLM durch robotische Ansätze und intraoperative Assistenz zu adressieren. Obwohl ein Trend zur minimal invasiven Chirurgie besteht, sind bislang keine hochintegrierten Plattformen für die endoskopische Applikation fokussierter Laserstrahlung verfügbar. Ebenfalls sind keine Systeme bekannt, die Szeneninformationen aus der endoskopischen Bildgebung in die Ablationsplanung und -ausführung einbeziehen. Für eine situsnahe Fokussierung des Laserstrahls wird in dieser Arbeit zunächst eine miniaturisierte Fokussieroptik zur Integration in endoskopische Systeme vorgestellt. Experimentelle Versuche charakterisieren die optischen Eigenschaften und das Ablationsverhalten. Zur Manipulation der Fokussieroptik wird eine robotische Plattform realisiert. Diese basiert auf einem längenveränderlichen Kontinuumsmanipulator. Letzterer ermöglicht in Kombination mit einer mechatronischen Aktuierungseinheit Bewegungen des Endoskopkopfes in fünf Freiheitsgraden. Die kinematische Modellierung und Regelung des Systems werden in ein modulares Framework eingebunden und evaluiert. Die Manipulation fokussierter Laserstrahlung erfordert zudem eine präzise Anpassung der Fokuslage auf das Gewebe. Dafür werden visuelle, haptische und visuell haptische Assistenzfunktionen eingeführt. Diese unterstützen den Anwender bei Teleoperation zur Einstellung eines optimalen Arbeitsabstandes. In einer Anwenderstudie werden Vorteile der visuell-haptischen Assistenz nachgewiesen. Die Systemperformanz und Gebrauchstauglichkeit des robotischen Gesamtsystems werden in einer weiteren Anwenderstudie untersucht. Analog zu einem klinischen Einsatz verfolgen die Probanden mit einem Laserspot vorgegebene Sollpfade. Die mittlere Positioniergenauigkeit des Spots beträgt dabei 0,5 mm. Zur Automatisierung der Ablation werden abschließend Methoden der bildgestützten Regelung vorgestellt. Experimente bestätigen einen positiven Effekt der Automationskonzepte für die kontaktfreie Laserchirurgie

Proceedings of the 3rd Annual Conference on Aerospace Computational Control, volume 1

Conference topics included definition of tool requirements, advanced multibody component representation descriptions, model reduction, parallel computation, real time simulation, control design and analysis software, user interface issues, testing and verification, and applications to spacecraft, robotics, and aircraft

Ultrasonic sensor platforms for non-destructive evaluation

Robotic vehicles are receiving increasing attention for use in Non-Destructive Evaluation (NDE), due to their attractiveness in terms of cost, safety and their accessibility to areas where manual inspection is not practical. A reconfigurable Lamb wave scanner, using autonomous robotic platforms is presented. The scanner is built from a fleet of wireless miniature robotic vehicles, each with a non-contact ultrasonic payload capable of generating the A0 Lamb wave mode in plate specimens. An embedded Kalman filter gives the robots a positional accuracy of 10mm. A computer simulator, to facilitate the design and assessment of the reconfigurable scanner, is also presented. Transducer behaviour has been simulated using a Linear Systems approximation (LS), with wave propagation in the structure modelled using the Local Interaction Simulation Approach (LISA). Integration of the LS and LISA approaches were validated for use in Lamb wave scanning by comparison with both analytical techniques and more computationally intensive commercial finite element/diference codes. Starting with fundamental dispersion data, the work goes on to describe the simulation of wave propagation and the subsequent interaction with artificial defects and plate boundaries. The computer simulator was used to evaluate several imaging techniques, including local inspection of the area under the robot and an extended method that emits an ultrasonic wave and listens for echos (B-Scan). These algorithms were implemented in the robotic platform and experimental results are presented. The Synthetic Aperture Focusing Technique (SAFT) was evaluated as a means of improving the fidelity of B-Scan data. It was found that a SAFT is only effective for transducers with reasonably wide beam divergence, necessitating small transducers with a width of approximately 5mm. Finally, an algorithm for robot localisation relative to plate sections was proposed and experimentally validated