论文标题
平面可重构电缆驱动的平行机器人的故障识别和恢复框架
A Failure Identification and Recovery Framework for a Planar Reconfigurable Cable Driven Parallel Robot
论文作者
论文摘要
在电缆驱动的平行机器人（CDPR）中，单个电缆故障通常会导致整个机器人的完全故障。但是，通常可以通过重新配置框架上的电缆附件来恢复丢失的静态工作空间（由于故障）。通过将运动冗余以在实时冗余分辨率控制器中操纵的移动线性滑块的形式添加到机器人中，从而引入了此功能。提出的工作将该控制器与在线故障检测框架相结合，以开发一个自动任务恢复的完整故障耐受控制方案。该解决方案通过将最终效果的姿势估计与仅依靠最终效应器信息的交互式多重模型（IMM）算法相结合，从而提供了鲁棒性。然后将故障和姿势估计方案绑定到冗余分辨率方法中，以产生无缝的自动任务（轨迹）恢复方法，以实现电缆故障。
In cable driven parallel robots (CDPRs), a single cable malfunction usually induces complete failure of the entire robot. However, the lost static workspace (due to failure) can often be recovered through reconfiguration of the cable attachment points on the frame. This capability is introduced by adding kinematic redundancies to the robot in the form of moving linear sliders that are manipulated in a real-time redundancy resolution controller. The presented work combines this controller with an online failure detection framework to develop a complete fault tolerant control scheme for automatic task recovery. This solution provides robustness by combining pose estimation of the end-effector with the failure detection through the application of an Interactive Multiple Model (IMM) algorithm relying only on end-effector information. The failure and pose estimation scheme is then tied into the redundancy resolution approach to produce a seamless automatic task (trajectory) recovery approach for cable failures.
