Industrial processes governed by automatic controllers can be subject to failures. Their incorrect operation can cause economic losses, workers’ hazards, inconvenience for users, etc. Moreover, automation of processes by means of automatic control loops, although permitted freeing human operators from manual control and operation, has not immunized them from failures. A way to enhance their reliability is to provide them with tolerance mechanisms to face these failures (Blanke et al., 2001). It is understood as 'failure' every change in the behavior of any component of the system (non-permitted deviation of any characteristic property or parameter), so the system cannot satisfy the function it has been designed for (Blanke et al., 2006). Control loops can hide failures preventing their detection to the point of causing irreparable damages forcing to stop the system or process. Because of this, there is a growing need and concern for developing control systems capable of acceptable operation even in the case of failures, also being able to stop the process before irreparable damages arise. This kind of control systems are called 'failure tolerant': control systems that can, in the one hand, detect incipient failures in sensors and/ or actuators; and, in the other, adapt control laws quickly to preserve the specified operation in terms of production quality, safety, etc. (Bonivento et al., 2004). Figure 1 shows the block diagram corresponding to a fault-tolerant control system. (Blanke et al., 2006). In this chapter the development of a simulation environment applied to the study of fault tolerant control systems for robotic manipulators by employing MatLab-Simulink programming tools is presented. By using this simulator is possible to represent the behavior of a manipulator: in the presence of a failure into one of its actuators and the status of correction of such failure, through an active fault tolerant control system. The end-effector Cartesian trajectories and the evolution of the joints of the manipulator are provided by means of animations and graphics in a comfortable and intuitive programming environment.

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Development of a Simulation Environment Applied to the Study of Fault-Tolerant Control Systems in Robotic Manipulators. Theoretical and Practical Comparisons

Resumen es: En este articulo se presenta la estabilizacion simultanea con multiples dominios de estabilidad como una tecnica aplicada al control tolerante a fallas ...

Control tolerante a fallas mediante técnicas de estabilizaciónsimultanea con múltiples dominios de estabilidad.

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Control tolerante a fallas mediante técnicas de estabilizaciónsimultanea con múltiples dominios de estabilidad.