Noureddine, Rachid and Noureddine, Farid
and Benamar, Ali
Fault tolerant gripper in robotics.
(2013)
In: 9th France-Japan, 21 November 2012 - 23 November 2012 (Paris, France).
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(Document in English)
PDF (Author's version) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader 415kB |
Official URL: https://doi.org/10.1109/MECATRONICS.2012.6450997
Abstract
The work presented in this article shows, through a case study, the different stages of designing a fault tolerant system; a system which can tolerate faults without losing its operational capability. This system includes a gripper mounted on the wrist of a robot manipulator. First the faults were identified, then the residual generation stage was designed. Analyzing this residual allows us to show that artificially injected faults can be detected and an alarm is generated for an emergency stop command. With regards to the gripper, we have only dealt with the faults we were able to solve thanks to the accommodation stage which must control both hardware and software reconfigurations. The considered faults originated in the electronic interfaces and for an efficient supervision we have designed the whole gripper control. The electronic interfaces concerned by fault occurrence are duplicated to ensure robot task continuity
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Additional Information: | Thanks to IEEE. The original document is available on iEEE Xplore: https://doi.org/10.1109/MECATRONICS.2012.6450997. © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
| HAL Id: | hal-02135788 |
| Audience (conference): | International conference proceedings |
| Uncontrolled Keywords: | |
| Institution: | Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE) Other partners > Université d'Oran 1 - Ahmed Ben Bella (ALGERIA) Other partners > École Nationale Polytechnique d'Oran Maurice Audin - ENPO-MA (ALGÉRIE) |
| Laboratory name: | |
| Statistics: | download |
| Deposited On: | 02 May 2019 15:02 |
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