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A fault-tolerant control algorithm having a decentralized autonomous architecture for space hyper-redundant manipulators

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5 Author(s)
Kimura, S. ; Commun. Res. Lab., Minist. of Posts & Telecommun., Tokyo, Japan ; Takahashi, M. ; Okuyama, T. ; Tsuchiya, S.
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Adaptation to partial failure is one of the most important requirements for space robotics, since space robots cannot be repaired after they have been launched. We propose a decentralized autonomous control algorithm for hyper-redundant manipulators that uses parallel processing with low-performance processors to achieve this adaptation. In this paper, a number of manipulator joints are locked at a certain angle in a computer simulation and the adaptability of the control algorithm to these failures is assessed. The control algorithm successfully continues its positioning task at a rate of more than 90%, even after half of its joints have failed. The control algorithm is also compared with behavior-based control architecture

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Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:28 ,  Issue: 4 )