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首页> 外文期刊>Journal of robotics and mechatronics >Fault-Tolerant Multi-Robot Operational Strategy for Material Transport Systems Considering Maintenance Activity
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Fault-Tolerant Multi-Robot Operational Strategy for Material Transport Systems Considering Maintenance Activity

机译：考虑维护活动的物料运输系统的容错多机器人操作策略

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摘要

In automated robotic systems, a robot undergoing corrective maintenance (i.e., repair) or preventive maintenance (i.e., inspection) may become a disturbance of operations for other working robots. Therefore, maintenance of a robot has to be performed adequately. Multi-robot systems have the capability for the substitution and complement of such a robot. To introduce the multi-robot technology in industrial applications, we propose fault-tolerant multi-robot operational strategies for a material transport system focusing on the robot behavior. Working robots, while switching between normal and fault-tolerant operational strategies reactively according to the presence or absence of a robot undergoing maintenance, accomplish tasks. Through simulation experiments, the effectiveness of the proposed strategies is discussed. In addition, an integrated strategy for some failure rates of the robot is investigated. Finally, a maintenance activity for the robots is modeled on the basis of reliability engineering and the reasonability of preventive and corrective maintenance is discussed.
机译：在自动化机器人系统中，进行纠正性维护（即修理）或预防性维护（即检查）的机器人可能会干扰其他正在工作的机器人的操作。因此，必须适当地进行机器人的维护。多机器人系统具有替代和补充这种机器人的能力。为了在工业应用中引入多机器人技术，我们针对以机器人行为为重点的材料运输系统提出了容错多机器人操作策略。工作中的机器人会根据是否要进行维护的机器人而在正常和容错操作策略之间做出反应，从而完成任务。通过仿真实验，讨论了所提策略的有效性。另外，研究了针对机器人某些故障率的集成策略。最后，在可靠性工程的基础上对机器人的维护活动进行了建模，并讨论了预防性和纠正性维护的合理性。

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