Fault-tolerant design for joint of HIT/DLR space robot armOA
Fault-tolerant design for joint of HIT/DLR space robot arm
The joint reliability design for the HIT/DLR space robotic arm has been discussed in this paper. The redundant controller unit, redundant CAN bus communication unit and latch-up power protection unit have been outlined. Th…查看全部>>
The joint reliability design for the HIT/DLR space robotic arm has been discussed in this paper. The redundant controller unit, redundant CAN bus communication unit and latch-up power protection unit have been outlined. The fault-tree of the joint has been built. Moreover, the algorithm for fault detection has been improved, and the fault-tolerant strategies of the joint have been proposed. Experimental results demonstrate the high reliability of the f…查看全部>>
NI Feng-lei;JIN Ming-he;SHI Shi-cai;LIU Hong
Robot Research Institute, Harbin Institute of Technology, Harbin 150001, ChinaRobot Research Institute, Harbin Institute of Technology, Harbin 150001, ChinaRobot Research Institute, Harbin Institute of Technology, Harbin 150001, ChinaInstitute of Robotics and Mechatronics, German Aerospace Center, DLR, 82230, Wessling, Germany
信息技术与安全科学
reliability fault-tolerant fault-detection space robotic arm
reliability fault-tolerant fault-detection space robotic arm
《哈尔滨工业大学学报（英文版）》 2008 (3)
415-421,7
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