Adaptive chaos control of a humanoid robot arm: a fault-tolerant scheme

摘要

Abstract. Safety in human–robot physical interaction and cooperation is of paramount interest. In this work, a human–humanoid interaction and cooperation scenario is considered. The robot arm is controlled by a proportional derivative (PD) controller in combination with an inherently fault-tolerant sliding-mode controller. During normal operation, if any of the joints of the robot arm develops a fault, the robot arm end effector may go into chaotic and dangerous motion. If such a scenario occurs, it poses a serious danger to the human in the loop as well as the robot. In this paper, an adaptive chaos sliding-mode controller is proposed to recover the tracking of the end effector when a fault occurs in any of the actuators. This tracking restoration is very important to complete a safety-critical task. The proposed scheme may help in addressing some safety issues arising from a joint failure, allowing it to finish the task at hand and stop it from going into a dangerous situation. The scheme is tested in simulation on the four degrees of freedom (DOF) model of the Bristol Robotics Laboratory (BRL) robot arm. Simulation results show efficient tracking recovery after a joint actuator failure. The controller demonstrated good performance in terms of tracking and stability when dealing with different joint actuator failures.