Joint Fault-Tolerant Design of the Chinese Space Robotic Arm

摘要：

In this paper, joint reliability design for the Chinese Space Robotic Arm has been discussed. 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 new algorithm of auto-adjust thresholding value has been presented for fault detection, and the fault-tolerant strategies of joint have been proposed. Experimental results demonstrate the effectiveness of the joint fault-tolerant design.

关键词： space robotic fault-detection CAN bus FPGA

作者: F.L.Ni M.H.Jin H.L.Wang H.Liu G.Hirzinger

作者单位: Robot Research Institute Harbin Institute of Technology (HIT) 150001, Harbin, P.R. China Institute of Robotics and Mechatronics German Aerospace Center, DLR 82230, Wessling, Germany

会议类型: 国际会议

会议名称: 2006 IEEE International Conference on Information Acquisition

会议地点: 山东威海

会议语种:英文

页码: 528-533

在线出版日期: 2006-08-20（万方平台首次上网日期，不代表论文的发表时间）