Multi-Robot Manipulation and Maintenance for Fault-Tolerant Systems
Ensuring fault tolerance of robotic systems is a challenge for factory automation. This paper focuses on multirobot manipulation and maintenance for fault-tolerant systems. For this purpose, a manipulation strategy of multiple mobile robots, that enables a system to continue operating even if a working robot undergoes preventive maintenance or fails and undergoes corrective maintenance, is implemented. In addition, a robot failure and a maintenance policy for preventive and corrective maintenance activities are mathematically modeled on the basis of reliability engineering. Thus, working robots are allowed to undergo preventive maintenance at an optimal interval and corrective maintenance each time they fail. Finally, through simulation experiments, the effectiveness of an integrated multi-robot manipulation and maintenance in industrial applications is shown.
Satoshi Hoshino Hiroya Seki Jun Ota
Chemical Resources Laboratory,Tokyo Institute of Technology,Yokohama,Kanagawa 226-8503,JAPAN Research into Artifacts,Center for Engineering (RACE),The University of Tokyo,Kashiwa,Chiba 277-8568
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4347-4352
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）