A Discrete Model-Free Scheme for Fault-Tolerant Tracking Control of Redundant Manipulators

Fault tolerance is a critical requirement for robust motion control of redundant robotic manipulators. This article aims to endow the manipulator with capability achieve required path end-effector in condition that one or some its joints’ fail. Although many fault-tolerant algorithms have been proposed recent years. However, few them are on basis model unknown. The complexity calculation limits efficiency and portability these algorithms. For first time, we discrete model-free tracking scheme manipulator, which takes into account fault system by formulating it quadratic programming (QP) framework. core consists kinematic estimator QP solver, powered problem transformed unified computing relaxing need knowing manipulator’s model. A joint space observer detection happening faulty states. Extensive simulations experiments based performed analyzed support verification effectiveness scheme.