Abdel O. Ghrieb,∗ Yahia Kourd,∗∗ Kamel Messaoudi,∗∗ Djamel M. Mouss,∗ and Toufik Bakir∗∗∗
Fault detection, fault-tolerance control, viscous friction fault, super-visor robot, FPGA, hardware implementation
This paper presents a new hardware implementation of a supervision system used in robot manipulators with two degrees of freedom. In addition to the simulation results, the new System Generator tool of Xilinx r is used to ensure self-generation of HDL codes. This code is used to configure field programmable gate arrays (FPGA) devices in the loop, and the supervision system is used mainly to ensure real-time reconfiguration of robots. In the proposed system, we used a new fault detection (FD) method for a viscous friction fault in the supervised robot combined with a fault-tolerance control method. The first module, based on residual analysis, is used to FD and to properly estimate the necessary corrections of the second module. For data transmission between the supervisor and the supervised robots, we used an approach based on the transmission control protocol. The simulation results show that the proposed method adjusts the fault effect using information transferred from the remote supervisor robot. The hardware implementation generated using Xilinx r System Generator is used to validate the proposed contribution and to ensure real-time processing in the case of industrial robots. The simulation results and the response times of both proposed systems are compared and discussed.
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