Fault Diagnosis and Fault Tolerant Control of Two manipulators Cooperation System

In this paper, a new actuator fault diagnosis and fault-tolerant control scheme is proposed for a cooperation system composed of two manipulators. When two manipulators perform parts assembly, hole-shaft coordination and other tasks, the output of the two manipulators needs to satisfy the objective function. The occurrence of fault will cause the collaboration task to be unable to complete. Thus, a new fault tolerant control scheme is adopted in this article. Assuming that the first manipulator subsystem has a multiplicative actuator fault, an adaptive observer is designed in the first manipulator system to get fault information and the controller in the second manipulator system is redesigned to make the outputs of the two manipulators still satisfy the objective function after a fault occurs. Finally, the simulation of the two-joint manipulator officially confirmed that the algorithm is effective.