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Fault tolerance in robotics

Noureddine, Farid and Larroque, Benoît and Rotella, Frédéric Fault tolerance in robotics. (2009) International Journal of Mechatronics and Manufacturing Systems, 2 (3). 294-310. ISSN 1753-1039

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Official URL: https://doi.org/10.1504/IJMMS.2009.026045

Abstract

This work is a contribution to illustrate the fault tolerance concepts in robotics. Every step from the analysis phase to the fault accommodation phase is presented. A fault on joint 3 is taken into account and simulated to validate the detection algorithms. The fault accommodation is thus considered and is based on the kinematic redundancy principle. The establishment of the inverse kinematic model, under some conditions of joint failure, enables the generation of an alternative trajectory to ensure the robot goes on functioning.

Item Type:Article
HAL Id:hal-02135753
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - INPT (FRANCE)
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Deposited By: Pascale Lalot
Deposited On:24 Apr 2019 13:17

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