Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2407.18140 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866929437162864640 |
|---|---|
| author | Girard, Alexandre Plante, Jean-Sébastien |
| author_facet | Girard, Alexandre Plante, Jean-Sébastien |
| contents | Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to meet the control challenges encountered by such robots, i.e., discrete actuator inputs, complex system modeling and cross-coupling between actuators. In the proposed scheme, a desired vectorial system output, such as a position or a force, is commanded by recruiting actuators based on their influence vectors on the output. No analytical model of the system is needed; influence vectors are identified experimentally by sequentially activating each actuator. For position control tasks, the controller uses a probabilistic approach and a genetic algorithm to determine an optimal combination of actuators to recruit. For motion control tasks, the controller uses a sliding mode approach and independent recruiting decision for each actuator. Experimental results on a four degrees of freedom binary manipulator with twenty actuators confirm the method's effectiveness, and its ability to tolerate massive perturbations and numerous actuator failures. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_18140 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Influence Vectors Control for Robots Using Cellular-like Binary Actuators Girard, Alexandre Plante, Jean-Sébastien Robotics Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to meet the control challenges encountered by such robots, i.e., discrete actuator inputs, complex system modeling and cross-coupling between actuators. In the proposed scheme, a desired vectorial system output, such as a position or a force, is commanded by recruiting actuators based on their influence vectors on the output. No analytical model of the system is needed; influence vectors are identified experimentally by sequentially activating each actuator. For position control tasks, the controller uses a probabilistic approach and a genetic algorithm to determine an optimal combination of actuators to recruit. For motion control tasks, the controller uses a sliding mode approach and independent recruiting decision for each actuator. Experimental results on a four degrees of freedom binary manipulator with twenty actuators confirm the method's effectiveness, and its ability to tolerate massive perturbations and numerous actuator failures. |
| title | Influence Vectors Control for Robots Using Cellular-like Binary Actuators |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.18140 |