On-Line Fault-Tolerant Fuzzy-Based Path Planning and Obstacles Avoidance Approach for Manipulator Robots

摘要

Manipulator robots are widely used in many fields to replace humans in complex and risky environments. However, in some particular environments the robot is prone to failure, resulting in decreased performance. In such environments, it is extremely difficult to repair the robot which interrupts the execution process. Therefore, fault tolerance plays an important role in industrial manipulators applications. In this paper, the key problems related to fault-tolerance and path planning of manipulator robots under joints failures are handled within an on-line fault-tolerant fuzzy-logic based path planning approach for high degree-of-freedom robots. This approach provides an alternative to using mathematical models to control such robots, and improves tolerance to certain faults and mechanical failures. The controller consists of two fuzzy units (i) the first unit, Fuzzy_Path_Planner, is responsible of path planning; (ii) the second unit, Fuzzy_Obstacle_Avoidance, is conceived for obstacles avoidance. Moreover, the proposed approach is capable of repelling the manipulator away from both local minima and limit cycle problems. Finally, to validate the proposed approach and show its performances and effectiveness, different tests are carried out on two six degree-of-freedom manipulator robots (ULM and PUMA560 robots), accomplishing point-to-point tasks, with and without considering some joints failures.