Systemwide joint position sensor fault tolerance in robot systems using Cartesian accelerometers

Hal A. Aldridge; Jer-Nan Juang

doi:10.1117/12.256320

30 October 1996 Systemwide joint position sensor fault tolerance in robot systems using Cartesian accelerometers

Hal A. Aldridge, Jer-Nan Juang

Proceedings Volume 2905, Sensor Fusion and Distributed Robotic Agents; (1996) https://doi.org/10.1117/12.256320
Event: Photonics East '96, 1996, Boston, MA, United States

Abstract

Joint position sensors are necessary for most robot control systems. A single position sensor failure in a normal robot system can greatly degrade performance. This paper presents a method to obtain position information from Cartesian accelerometers without integration. Depending on the number and location of the accelerometers, the proposed system can tolerate the loss of multiple position sensors. A solution technique suitable for real-time implementation is presented. Simulations were conducted using 5 triaxial accelerometers to recover from the loss of up to 4 joint position sensors on a 7 degree of freedom robot moving in general three dimensional space. The simulations show good estimation performance using non-ideal accelerometer measurements.

Citation Download Citation

Hal A. Aldridge and Jer-Nan Juang "Systemwide joint position sensor fault tolerance in robot systems using Cartesian accelerometers", Proc. SPIE 2905, Sensor Fusion and Distributed Robotic Agents, (30 October 1996); https://doi.org/10.1117/12.256320

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