Evaluation of a Fault-Tolerant Scheme in a Six-Degree-of-Freedom Motion Flight Simulator

2010 ◽  
Vol 7 (2) ◽  
pp. 47-67 ◽  
Author(s):  
Girish K. Sagoo ◽  
Srikanth Gururajan ◽  
Brad Seanor ◽  
Marcello R. Napolitano ◽  
Mario G. Perhinschi ◽  
...  
Keyword(s):  
Fault Tolerant ◽  
Degree Of Freedom ◽  
Flight Simulator ◽  
Six Degree Of Freedom

On-Line Fault-Tolerant Fuzzy-Based Path Planning and Obstacles Avoidance Approach for Manipulator Robots

2018 ◽  
Vol 26 (05) ◽  
pp. 809-838 ◽  
Author(s):  
Abderraouf Maoudj ◽  
Abdelfetah Hentout ◽  
Brahim Bouzouia ◽  
Redouane Toumi
Keyword(s):  
Fault Tolerance ◽  
Path Planning ◽  
Fault Tolerant ◽  
Degree Of Freedom ◽  
Planning Approach ◽  
Industrial Manipulators ◽  
On Line ◽  
Point To Point ◽  
Six Degree Of Freedom ◽  
High Degree

Manipulator robots are widely used in many fields to replace humans in complex and risky environments. However, in some particular environments the robot is prone to failure, resulting in decreased performance. In such environments, it is extremely difficult to repair the robot which interrupts the execution process. Therefore, fault tolerance plays an important role in industrial manipulators applications. In this paper, the key problems related to fault-tolerance and path planning of manipulator robots under joints failures are handled within an on-line fault-tolerant fuzzy-logic based path planning approach for high degree-of-freedom robots. This approach provides an alternative to using mathematical models to control such robots, and improves tolerance to certain faults and mechanical failures. The controller consists of two fuzzy units (i) the first unit, Fuzzy_Path_Planner, is responsible of path planning; (ii) the second unit, Fuzzy_Obstacle_Avoidance, is conceived for obstacles avoidance. Moreover, the proposed approach is capable of repelling the manipulator away from both local minima and limit cycle problems. Finally, to validate the proposed approach and show its performances and effectiveness, different tests are carried out on two six degree-of-freedom manipulator robots (ULM and PUMA560 robots), accomplishing point-to-point tasks, with and without considering some joints failures.

Dynamic Modeling of a Six Degree-of-Freedom Flight Simulator Motion Base

2015 ◽  
Vol 10 (5) ◽  
Author(s):  
Mauricio Becerra-Vargas ◽  
Eduardo Morgado Belo
Keyword(s):  
Closed Form ◽  
Dynamic Model ◽  
Kinematic Model ◽  
Closed Form Solution ◽  
Stewart Platform ◽  
Degree Of Freedom ◽  
Dynamic Equations ◽  
Flight Simulator ◽  
Simulator Motion ◽  
Six Degree Of Freedom

This paper presents a closed-form solution for the direct dynamic model of a flight simulator motion base. The motion base consists of a six degree-of-freedom (6DOF) Stewart platform robotic manipulator driven by electromechanical actuators. The dynamic model is derived using the Newton–Euler method. Our derivation is closed to that of Dasgupta and Mruthyunjaya (1998, “Closed Form Dynamic Equations of the General Stewart Platform Through the Newton–Euler Approach,” Mech. Mach. Theory, 33(7), pp. 993–1012), however, we give some insights into the structure and properties of those equations, i.e., a kinematic model of the universal joint, inclusion of electromechanical actuator dynamics and the full dynamic equations in matrix form in terms of Euler angles and platform position vector. These expressions are interesting for control, simulation, and design of flight simulators motion bases. Development of a inverse dynamic control law by using coefficients matrices of dynamic equation and real aircraft trajectories are implemented and simulation results are also presented.

Iterative feedback control based on frequency response model for a six-degree-of-freedom micro-vibration platform

2021 ◽  
pp. 107754632199731
Author(s):  
He Zhu ◽  
Shuai He ◽  
Zhenbang Xu ◽  
XiaoMing Wang ◽  
Chao Qin ◽  
...  
Keyword(s):  
Feedback Control ◽  
Frequency Response ◽  
Control Strategy ◽  
Degree Of Freedom ◽  
Small Displacement ◽  
Response Model ◽  
Parameter Uncertainties ◽  
Micro Vibration ◽  
Six Degree Of Freedom ◽  
Iterative Feedback

In this article, a six-degree-of-freedom (6-DOF) micro-vibration platform (6-MVP) based on the Gough–Stewart configuration is designed to reproduce the 6-DOF micro-vibration that occurs at the installation surfaces of sensitive space-based instruments such as large space optical loads and laser communications equipment. The platform’s dynamic model is simplified because of the small displacement characteristics of micro-vibrations. By considering the multifrequency line spectrum characteristics of micro-vibrations and the parameter uncertainties, an iterative feedback control strategy based on a frequency response model is designed, and the effectiveness of the proposed control strategy is verified by performing integrated simulations. Finally, micro-vibration experiments are performed with a 10 kg load on the platform. The results of these micro-vibration experiments show that after several iterations, the amplitude control errors are less than 3% and the phase control errors are less than 1°. The control strategy presented in this article offers the advantages of a simple algorithm and high precision and it can also be used to control other similar micro-vibration platforms.

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