TY - GEN
T1 - Locked-joint failure identification for free-floating space robots
AU - Chang, Haitao
AU - Huang, Panfeng
AU - Wang, Ming
AU - Lu, Zhenyu
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/21
Y1 - 2014/10/21
N2 - The space robot is concerned the most reasonable method for on-orbit servicing tasks. In space applications, failure of the manipulator is critical for both the space robot and the spacecraft serviced. The failure mode concerned in this paper is locked-joint failure which is one of the most common modes. To identify the locked position of the joint, the response mapping between of the joints motion and the base motion is derived based on momentum conservation theorem. Then, the base velocity can be computed with a reckoned value of the locked position. By revising the reckoned value, the error between the velocities calculated and measured can be decreased. The Differential Evolution (DE) algorithm is utilized to search the locked position. At last, the illustrative simulation shows that the failure identification method proposed in this paper is feasible and the identified result is accurate.
AB - The space robot is concerned the most reasonable method for on-orbit servicing tasks. In space applications, failure of the manipulator is critical for both the space robot and the spacecraft serviced. The failure mode concerned in this paper is locked-joint failure which is one of the most common modes. To identify the locked position of the joint, the response mapping between of the joints motion and the base motion is derived based on momentum conservation theorem. Then, the base velocity can be computed with a reckoned value of the locked position. By revising the reckoned value, the error between the velocities calculated and measured can be decreased. The Differential Evolution (DE) algorithm is utilized to search the locked position. At last, the illustrative simulation shows that the failure identification method proposed in this paper is feasible and the identified result is accurate.
KW - Differential Evolution
KW - Fault Identification
KW - Locked-joint Failure
KW - Space Robot
UR - http://www.scopus.com/inward/record.url?scp=84914143067&partnerID=8YFLogxK
U2 - 10.1109/ICInfA.2014.6932647
DO - 10.1109/ICInfA.2014.6932647
M3 - 会议稿件
AN - SCOPUS:84914143067
T3 - 2014 IEEE International Conference on Information and Automation, ICIA 2014
SP - 170
EP - 175
BT - 2014 IEEE International Conference on Information and Automation, ICIA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Information and Automation, ICIA 2014
Y2 - 28 July 2014 through 30 July 2014
ER -