Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators

redundant manipulator

Joint velocity redistribution for fault tolerant manipulators

If the end-effector of a robotic manipulator moves on a specified trajectory, then for the fault tolerant operation, it is required that the end-effector continues the trajectory with a minimum velocity jump when a fault occurs within a joint. This problem is addressed in the paper. A way to tolerate the fault is to find new joint velocities for the faulty manipulator in which results into the same end-effector velocity provided by the healthy manipulator. The aim of this study is to find a strategy which optimally redistributes the joint velocities for the remained healthy joints of the manipulators. The optimality is defined by the minimum end-effector velocity jump. A solution of the problem is presented and it is applied to a robotics manipulator. Then through a case study and a simulation study it is validated. The paper shows that if would be possible the joint velocity redistribution results into a zero velocity jump

Optimal actuator fault tolerance for static nonlinear systems based on minimum output velocity jump

Fault tolerance for a class of non linear systems is addressed based on the velocity of their output variables. This paper presents a mapping to minimize the possible jump of the velocity of the output, due to the actuator failure. The failure of the actuator is assumed as actuator lock. The mapping is derived and it provides the proper input commands for the healthy actuators of the system to tolerate the effect of the faulty actuator on the output of the system. The introduced mapping works as an optimal input reconfiguration for fault recovery, which provides a minimum velocity jump suitable for static nonlinear systems. The proposed mapping is validated through different case studies and a complementary simulation. In the case studies and the simulation, the mapping provides the commands to compensate the effect of different faults within the joints of a robotic manipulator. The new commands and the compare between the velocity of the output variables for the health and faulty system are presented

Fault tolerance force for redundant manipulators

Fault tolerant manipulators maintain their trajectory even if their joint/s fails. Assuming that the manipulator is fault tolerant on its trajectory, fault tolerant compliance manipulators provide required force at their end-effector even when a joint fails. To achieve this, the contributions of the faulty joints for the force of the end-effector are required to be mapped into the proper compensating joint torques of the healthy joints to maintain the force. This paper addresses the optimal mapping to minimize the force jump due to a fault, which is the maximum effort to maintain the force when a fault occurs. The paper studies the locked joint fault/s of the redundant manipulators and it relates the force jump at the end-effector to the faults within the joints. Adding on a previous study to maintain the trajectory, in here the objective is to providing fault tolerant force at the end-effector of the redundant manipulators. This optimal mapping with minimum force jump is presented using matrix perturbation model. And the force jump is calculated through this model for single and multiple joints fault. The proposed optimal mapping is used in different fault scenarios for a 5-DOF manipulator; also it is deployed to compensate the force at the end-effector for the 5-DOF manipulator through simulation study and the results are presented

On the effort of task completion for partially-failed manipulators

Adding to a previous work of the authors for task completion for partially failed manipulator, other aspects of the effort are discussed. The paper aims to investigate on the strategies of maximum effort for maintaining the availability of partially failed manipulators. The failures are assumed as the joint lock failures of the manipulators. The main objective is to facilitate the existing manipulators to continue their tasks even if a non catastrophic fault occurs into their joints. The tasks includes motion tasks and force tasks. For each group of tasks a constrained optimality problem is introduced. Then in a case study a required force profile on a desired trajectory using a 3DOF planar manipulator is indicated. Through this study the joint angles and joint torques for a healthy manipulator and a faulty manipulator are shown. It is illustrated that a failure in the second joint is tolerated on the trajectory of end-effector

Generation of 3D sparse feature models using multiple stereo views

Augmented Reality (AR) renders virtual information onto objects in the real world. This new user interface paradigm presents a seamless blend of the virtual and real, where the convergence of the two is difficult to discern. However, errors in the registration of the real and virtual worlds are common and often destroy the AR illusion. To achieve accurate and efficient registration, the pose of real objects must be resolved in a quick and precise manner.<br /

Segmentation and Feature Extraction of Human Gait Motion

This paper presents segmentation and feature extraction of human gait motion. The methodology of this paper focuses on segmenting ‘XYZ’ position curves, in reference to time of gait motion based on the velocity or acceleration of the movement. The extracted features include amplitude, time, and equally spaced sample data, maximum and minimum for each segment. The results can be used for reconstruction of a viable dataset that is critical for simulation and validation of human gaits. We propose a method to enables the fitting of the same curve with limited data. Such data sets may prove valuable for studying impairments and improving simulations of rehabilitation tools, and statistical classification for researchers worldwide

Wind Turbine Generator Short Circuit Fault Detection Using a Hybrid Approach of Wavelet Transform and Naïve Bayes Classifier

Wind turbines are subjected to several failure modes during their operation. A wind turbine drivetrain generally consists of rotor, bearings, low and high-speed shafts, gearbox, brakes, and generator. Single phase-to-phase and single phase-to-ground faults are among common electrical failure modes in the generator. In this paper, feature extraction has been performed using the Discrete Wavelet Transform (DWT) to detect the electrical faults in the wind turbine generator. A two-stage prediction process is proposed using Naïve Bayes Classifier (NBC), where the healthy and faulty modes are first determined, followed by classifying the types of electrical faults. Three-phase stator currents are used as fault detection signals. The performance of the proposed algorithm has been evaluated in Simulink for a 1659 kW wind turbine drivetrain

Vibration anlysis of brushless doubly fed machines in the presence of rotor eccentricity

In this work, an analytical study has been performed on the Brushless Doubly Fed Machine's (BDFM) vibration due to the interaction of its fundamental magnetic fields, exerting bending forces in the back iron. The effects of rotor eccentricity on exacerbating the machine's vibration have been considered by assessing the stator back iron displacement function in the presence of rotor eccentricity. Finite element analysis is carried out for a 250 kW BDFM built in frame size D400 to validate the analytical methods. The stator back iron displacement is determined for an ideally-constructed machine as well as when the rotor has static and dynamic eccentricity. In addition, the prototype BDFM was tested at different operating conditions in order to examine its noise and vibration levels. A set of measurements was conducted to assess the main vibration component frequencies developed by the machine at different rotor speeds. It is shown that the main vibration components are created by bending set-up in the back iron, rotor eccentricity, and the components with time and space harmonic natures. The results obtained from finite element analysis and experimentally agree with the analytical theory of BDFM vibration