Joint fault-tolerant design of the Chinese space robotic arm

F. L. Ni; M. H. Jin; H. L. Wang; H. Liu; G. Hirzinger

doi:10.1109/ICIA.2006.305789

Joint fault-tolerant design of the Chinese space robotic arm

F. L. Ni
, M. H. Jin
, H. L. Wang
, H. Liu
, G. Hirzinger

School of Mechatronics Engineering

Research output: Contribution to conference › Paper › peer-review

6 Scopus citations

Abstract

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.

Original language	English
Pages	528-533
Number of pages	6
DOIs	https://doi.org/10.1109/ICIA.2006.305789
State	Published - 2006
Event	2006 IEEE International Conference on Information Acquisition, ICIA 2006 - Weihai, Shandong, China Duration: 20 Aug 2006 → 23 Aug 2006

Conference

Conference	2006 IEEE International Conference on Information Acquisition, ICIA 2006
Country/Territory	China
City	Weihai, Shandong
Period	20/08/06 → 23/08/06

Keywords

CAN bus
FPGA
Fault-detection
Space robotic

Access to Document

10.1109/ICIA.2006.305789

Cite this

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abstract = "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.",

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year = "2006",

doi = "10.1109/ICIA.2006.305789",

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note = "2006 IEEE International Conference on Information Acquisition, ICIA 2006 ; Conference date: 20-08-2006 Through 23-08-2006",

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AU - Jin, M. H.

AU - Wang, H. L.

AU - Liu, H.

AU - Hirzinger, G.

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

KW - CAN bus

KW - FPGA

KW - Fault-detection

KW - Space robotic

UR - https://www.scopus.com/pages/publications/46249093311

U2 - 10.1109/ICIA.2006.305789

DO - 10.1109/ICIA.2006.305789

M3 - 论文

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ER -

Joint fault-tolerant design of the Chinese space robotic arm

Abstract

Conference

Keywords

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