Fault tolerance in robotics

摘要

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.