Minimal force jump within human and assistive robot cooperation

Minimal force jump within human and assistive robot cooperation

When an assistant robotic manipulator cooperatively performs a task with a human and the task is required to be highly reliable, then fault tolerance is essential. To achieve the fault tolerance force within the human robot cooperation, it is required to map the effects of the faulty joint of the ro...

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Hauptverfasser: Abdi, Hamid, Nahavandi, Saeid, Masouleh, Mehdi Tale
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Sprache:eng
Schlagworte:
actuator fault
Fault tolerance
fault tolerant
Fault tolerant systems
Force
human robot cooperation
Humans
Joints
least square minimization
Manipulators
reliability
robotic manipulators
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Nahavandi, Saeid
Masouleh, Mehdi Tale
description When an assistant robotic manipulator cooperatively performs a task with a human and the task is required to be highly reliable, then fault tolerance is essential. To achieve the fault tolerance force within the human robot cooperation, it is required to map the effects of the faulty joint of the robot into the manipulator's healthy joints' torque space and the human force. The objective is to optimally maintain the cooperative force within the human robot cooperation. This paper aims to analyze the fault tolerant force within the cooperation and two frameworks are proposed. Then they have been validated through a fault scenario. Finally, the minimum force jump which is the optimal fault tolerance has been achieved.
doi_str_mv 10.1109/IROS.2010.5650149
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subjects actuator fault
Fault tolerance
fault tolerant
Fault tolerant systems
Force
human robot cooperation
Humans
Joints
least square minimization
Manipulators
reliability
robotic manipulators
title Minimal force jump within human and assistive robot cooperation
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