Goller T, Hopf V, Völz A, Graichen K (2025)
Publication Language: English
Publication Type: Journal article, Letter
Publication year: 2025
Book Volume: 10
Pages Range: 9002 - 9009
Journal Issue: 9
This letter presents a comprehensive framework for robotic manipulation tasks, incorporating systematic fault handling and recovery strategies. The framework leverages model predictive interaction control (MPIC) as a path-following controller to enable dynamic replanning of motion and wrench references. A three-layered architecture divides the control task into decision-making, trajectory planning, and low-level robot control. The Fault Event Pipeline (FEP) is introduced to provide a structured approach for fault detection of pose and wrench errors, diagnosis, and recovery, supporting both forward and backward strategies. The framework integrates fault handling into task planning and execution, offering a unified solution for reliable robotic operations. Experimental validation with a 7-degree-of-freedom Franka-Emika robot demonstrates the framework's ability to handle diverse faults.
APA:
Goller, T., Hopf, V., Völz, A., & Graichen, K. (2025). Fault Handling in Robotic Manipulation Tasks for Model Predictive Interaction Control. IEEE Robotics and Automation Letters, 10(9), 9002 - 9009. https://doi.org/10.1109/LRA.2025.3592069
MLA:
Goller, Tim, et al. "Fault Handling in Robotic Manipulation Tasks for Model Predictive Interaction Control." IEEE Robotics and Automation Letters 10.9 (2025): 9002 - 9009.
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