ROBOT FAULT-TOLERANT FEEDBACK SYSTEM

ROBOTIC SYSTEMS CAPABLE OF SAFE, RELIABLE PERFORMANCE FOR LONG PERIODS OF TIME MUST BE ABLE TO DETECT FEEDBACK TRANSDUCER FAULTS AND TO CONTINUE TO OPERATE WITHOUT DAMAGE TO PAYLOADS AND OBJECTS IN THE WORK-SPACE. THIS PROJECT AIMS TO DEVELOP A METHOD CAPABLE OF QUICKLY DETECTING ERRORS IN THE TORQUE, VELOCITY, AND POSITION FEEDBACK AND OF PROVIDING A MEANS TO CONTINUE OPERATION WITH SOME DEGRADATION OF PERFORMANCE THROUGH THE USE OF THE UNAFFECTED FEEDBACK TRANSDUCERS. THROUGH THE DIFFERENTIATION AND THE INTEGRATION OF THE FEEDBACK SIGNALS AND THE USE OF THE MOTOR CURRENT AND BEMF VOLTAGE, CLOSE APPROXIMATIONS OF THE ACTUAL FEEDBACK SIGNALS CAN BE GENERATED. SUCH A SYSTEM WOULD SIGNIFICANTLYIMPROVE THE SAFETY AND RELIABILITY OF THE ROBOTIC SYSTEM AS WELL AS REDUCE THE NEED FOR REDUNDANCY, WHICH COMPLICATESTHE MECHANICAL DESIGN AND INCREASES THE WIRING HARNESS SIZE. ROBOTIC SYSTEMS CAPABLE OF SAFE, RELIABLE PERFORMANCE FOR LONG PERIODS OF TIME MUST BE ABLE TO DETECT FEEDBACK TRANSDUCER FAULTS AND TO CONTINUE TO OPERATE WITHOUT DAMAGE TO PAYLOADS AND OBJECTS IN THE WORK-SPACE. THIS PROJECT AIMS TO DEVELOP A METHOD CAPABLE OF QUICKLY DETECTING ERRORS IN THE TORQUE, VELOCITY, AND POSITION FEEDBACK AND OF PROVIDING A MEANS TO CONTINUE OPERATION WITH SOME DEGRADATION OF PERFORMANCE THROUGH THE USE OF THE UNAFFECTED FEEDBACK TRANSDUCERS. THROUGH THE DIFFERENTIATION AND THE INTEGRATION OF THE FEEDBACK SIGNALS AND THE USE OF THE MOTOR CURRENT AND BEMF VOLTAGE, CLOSE APPROXIMATIONS OF THE ACTUAL FEEDBACK SIGNALS CAN BE GENERATED. SUCH A SYSTEM WOULD SIGNIFICANTLYIMPROVE THE SAFETY AND RELIABILITY OF THE ROBOTIC SYSTEM AS WELL AS REDUCE THE NEED FOR REDUNDANCY, WHICH COMPLICATESTHE MECHANICAL DESIGN AND INCREASES THE WIRING HARNESS SIZE.