Fault Tolerance For Redundant Robots And Coordinating Robots

In this dissertation, fault tolerance for kinematically redundant robot in anticipating free-swinging joint failures and kinematical planning after a failure have been deeply and systematically researched. Besides , the preliminary investigation of fault tolerance for coordinating robots.Firstly, from analyzing other scholar's literatures, the problems of fault tolerance for kinematically redundant robot in anticipating free-swinging joint failures which is one type of failures are investigated. Scalar measure of fault susceptibility is defined using end error. Minimizing this measure is an approach to achieving fault tolerance, and for this, mathematic model is constructed. Then the contradiction between stability and optimization capacity are analyzed. Also, the multi-joint fault tolerance for redundant robots is researched.Secondly, kinematical planning for redundant robots after free-swinging joint failure is investigated. In order to control redundant robot's movement after a failure, the essential of robot's failure part(from failure joint to top) movement is discussed. Combined with redundant robot kinematics equations, robot's movement after a failure is planed.Simulation results show that the above method is suitable for redundant robot kinematical planning before and after a failure. Also, some new problems after free-swinging joint failures are pointed out. Combined with the interesting topics in this field, these unsolved problems are discussed in this article.Finally, the fault tolerance for coordinating manipulations of two redundant robots is preliminary investigated. The kinematical model of two coordinating redundant robots is constructed and analyzed through simulation examples. Based on the above studies, the fault tolerant planning ofcoordinating redundant robots after free-swinging joint failures of follower robot is researched, unlike single redundant robot, it's free-swinging under some restrictions.