機能適応形マニピュレータFun-ARMにおける耐故障制御

概要

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Robots are required to have the ability to adapt their function according to the tasks to be carried out in an unexpected environment, and to execute tasks even if a part of the system is malfunctions. Fault Tolerance is a significant factor of functional adaptability. In this paper, a fault tolerant control method with a proxy control strategy for a distributed manipulator is proposed. A Byzantine fault model is assumed in the method, where in the behavior of the faulty part cannot be predicted. The method focuses on malfunction of CPU (central processing unit) which is the controller of the manipulator. The method consists of procedures for fault detection, localization, containment, system reconfiguration and error recovery. The fault detection procedure is based on communication using shared memory. A voting algorithm for fault location is proposed. The fault tolerance control method is implemented in a distributed manipulator with modular architecture, called Fun-ARM (functionally adaptive and robust manipulator). A reaching motion experiment with a CPU pseudo fault is shown, and the proposed fault-tolerant control method is verified.
社団法人日本機械学会の論文
1997-05-25