For these reasons and many other concerns, the research topic of robotic actuator fault detection and isolation has become quite popular among roboticists and researchers around the world. For instance, when one of the joint actuators of a robot arm fails completely, the robot arm starts to move haphazardly and chaotically, which could harm the humans with whom the robot interacts.A human–robot cooperative scenario, such as passing a cup of a hot coffee or a sharp object to a human, can make the situation even worse in the face of actuator failure. However, with all the care being taken, robots are still prone to sudden failures in their actuators and/or sensors, which poses a great challenge, as many safety related issues arise from these faults. Among the main control algorithms and methods are those based on compliance control and cooperative control. In recent years, the subject of safe robot–human interaction has received its share of attention, and a vast amount of literature has been compiled on the subject. ![]() Therefore, in the social domain, various layers of safety are required to protect humans in the vicinity of the robot. In human–robot physical interaction tasks, the human is inside the robot's motion space, and any random and uncontrolled move can be catastrophic. The controller demonstrated good performance in terms of tracking and stability when dealing with different joint actuator failures.Īlthough robots have been around for decades, their integration into social environments and physical interaction with human beings is still relatively new and very challenging.įor researchers and robot manufacturers, the main concern with robot–human interaction is ensuring the reliability of the robot and the safety of the human ( Khan et al., 2018, 2010 b Li et al., 2023). Simulation results show efficient tracking recovery after a joint actuator failure. The scheme is tested in simulation on the four degrees of freedom (DOF) model of the Bristol Robotics Laboratory (BRL) robot arm. The proposed scheme may help in addressing some safety issues arising from a joint failure, allowing it to finish the task at hand and stop it from going into a dangerous situation. This tracking restoration is very important to complete a safety-critical task. In this paper, an adaptive chaos sliding-mode controller is proposed to recover the tracking of the end effector when a fault occurs in any of the actuators. If such a scenario occurs, it poses a serious danger to the human in the loop as well as the robot. The robot arm is controlled by a proportional derivative (PD) controller in combination with an inherently fault-tolerant sliding-mode controller.ĭuring normal operation, if any of the joints of the robot arm develops a fault, the robot arm end effector may go into chaotic and dangerous motion. ![]() In this work, a human–humanoid interaction and cooperation scenario is considered. Safety in human–robot physical interaction and cooperation is of paramount interest.
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